/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT domain methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include "globals.h"
#include "master.h"
#include "slave_config.h"
#include "domain.h"
/*****************************************************************************/
void ec_domain_clear_data(ec_domain_t *);
/*****************************************************************************/
/** Domain constructor.
*/
void ec_domain_init(
ec_domain_t *domain, /**< EtherCAT domain. */
ec_master_t *master, /**< Parent master. */
unsigned int index /**< Index. */
)
{
domain->master = master;
domain->index = index;
INIT_LIST_HEAD(&domain->fmmu_configs);
domain->data_size = 0;
domain->data = NULL;
domain->data_origin = EC_ORIG_INTERNAL;
domain->logical_base_address = 0x00000000;
INIT_LIST_HEAD(&domain->datagrams);
domain->working_counter = 0x0000;
domain->expected_working_counter = 0x0000;
domain->working_counter_changes = 0;
domain->notify_jiffies = 0;
}
/*****************************************************************************/
/** Domain destructor.
*/
void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
{
ec_datagram_t *datagram, *next;
// dequeue and free datagrams
list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
if (!list_empty(&datagram->queue)) // datagram queued?
list_del(&datagram->queue);
ec_datagram_clear(datagram);
kfree(datagram);
}
ec_domain_clear_data(domain);
}
/*****************************************************************************/
/** Frees internally allocated memory.
*/
void ec_domain_clear_data(
ec_domain_t *domain /**< EtherCAT domain. */
)
{
if (domain->data_origin == EC_ORIG_INTERNAL && domain->data)
kfree(domain->data);
domain->data = NULL;
domain->data_origin = EC_ORIG_INTERNAL;
}
/*****************************************************************************/
/** Adds an FMMU configuration to the domain.
*/
void ec_domain_add_fmmu_config(
ec_domain_t *domain, /**< EtherCAT domain. */
ec_fmmu_config_t *fmmu /**< FMMU configuration. */
)
{
fmmu->domain = domain;
domain->data_size += fmmu->data_size;
list_add_tail(&fmmu->list, &domain->fmmu_configs);
if (domain->master->debug_level)
EC_DBG("Domain %u: Added %u bytes, total %u.\n", domain->index,
fmmu->data_size, domain->data_size);
}
/*****************************************************************************/
/** Allocates a domain datagram and appends it to the list.
*
* The datagram type and expected working counters are determined by the
* number of input and output fmmus that share the datagram.
*
* \return 0 in case of success, else < 0
*/
int ec_domain_add_datagram(
ec_domain_t *domain, /**< EtherCAT domain. */
uint32_t logical_offset, /**< Logical offset. */
size_t data_size, /**< Size of the data. */
uint8_t *data, /**< Process data. */
const unsigned int used[] /**< Used by inputs/outputs. */
)
{
ec_datagram_t *datagram;
if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate domain datagram!\n");
return -1;
}
ec_datagram_init(datagram);
snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,
"domain%u-%u", domain->index, logical_offset);
if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs
if (ec_datagram_lrw(datagram, logical_offset, data_size, data)) {
kfree(datagram);
return -1;
}
// If LRW is used, output FMMUs increment the working counter by 2,
// while input FMMUs increment it by 1.
domain->expected_working_counter =
used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT];
} else if (used[EC_DIR_OUTPUT]) { // outputs only
if (ec_datagram_lwr(datagram, logical_offset, data_size, data)) {
kfree(datagram);
return -1;
}
domain->expected_working_counter = used[EC_DIR_OUTPUT];
} else { // inputs only (or nothing)
if (ec_datagram_lrd(datagram, logical_offset, data_size, data)) {
kfree(datagram);
return -1;
}
domain->expected_working_counter = used[EC_DIR_INPUT];
}
list_add_tail(&datagram->list, &domain->datagrams);
return 0;
}
/*****************************************************************************/
/** Finishes a domain.
*
* This allocates the necessary datagrams and writes the correct logical
* addresses to every configured FMMU.
*
* \todo Check for FMMUs that do not fit into any datagram.
*
* \retval 0 in case of success
* \retval <0 on failure.
*/
int ec_domain_finish(
ec_domain_t *domain, /**< EtherCAT domain. */
uint32_t base_address /**< Logical base address. */
)
{
uint32_t datagram_offset;
size_t datagram_size;
unsigned int datagram_count;
unsigned int datagram_used[EC_DIR_COUNT];
ec_fmmu_config_t *fmmu;
const ec_datagram_t *datagram;
domain->logical_base_address = base_address;
if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {
if (!(domain->data =
(uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes internal memory for"
" domain %u!\n", domain->data_size, domain->index);
return -1;
}
}
// Cycle through all domain FMMUS and
// - correct the logical base addresses
// - set up the datagrams to carry the process data
datagram_offset = 0;
datagram_size = 0;
datagram_count = 0;
datagram_used[EC_DIR_OUTPUT] = 0;
datagram_used[EC_DIR_INPUT] = 0;
list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
// Correct logical FMMU address
fmmu->logical_start_address += base_address;
// Increment Input/Output counter to determine datagram types
// and calculate expected working counters
datagram_used[fmmu->dir]++;
// If the current FMMU's data do not fit in the current datagram,
// allocate a new one.
if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) {
if (ec_domain_add_datagram(domain,
domain->logical_base_address + datagram_offset,
datagram_size, domain->data + datagram_offset,
datagram_used))
return -1;
datagram_offset += datagram_size;
datagram_size = 0;
datagram_count++;
datagram_used[EC_DIR_OUTPUT] = 0;
datagram_used[EC_DIR_INPUT] = 0;
}
datagram_size += fmmu->data_size;
}
// Allocate last datagram, if data are left (this is also the case if the
// process data fit into a single datagram)
if (datagram_size) {
if (ec_domain_add_datagram(domain,
domain->logical_base_address + datagram_offset,
datagram_size, domain->data + datagram_offset,
datagram_used))
return -1;
datagram_count++;
}
EC_INFO("Domain%u: Logical address 0x%08x, %u byte, "
"expected working counter %u.\n", domain->index,
domain->logical_base_address, domain->data_size,
domain->expected_working_counter);
list_for_each_entry(datagram, &domain->datagrams, list) {
EC_INFO(" Datagram %s: Logical offset 0x%08x, %u byte, type %s.\n",
datagram->name, EC_READ_U32(datagram->address),
datagram->data_size, ec_datagram_type_string(datagram));
}
return 0;
}
/*****************************************************************************/
/** Get the number of FMMU configurations of the domain.
*/
unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
{
const ec_fmmu_config_t *fmmu;
unsigned int num = 0;
list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
num++;
}
return num;
}
/*****************************************************************************/
/** Get a certain FMMU configuration via its position in the list.
*/
const ec_fmmu_config_t *ec_domain_find_fmmu(
const ec_domain_t *domain, /**< EtherCAT domain. */
unsigned int pos /**< List position. */
)
{
const ec_fmmu_config_t *fmmu;
list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
if (pos--)
continue;
return fmmu;
}
return NULL;
}
/******************************************************************************
* Realtime interface
*****************************************************************************/
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
const ec_pdo_entry_reg_t *regs)
{
const ec_pdo_entry_reg_t *reg;
ec_slave_config_t *sc;
int ret;
for (reg = regs; reg->index; reg++) {
if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
reg->position, reg->vendor_id, reg->product_code)))
return -1;
if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
reg->subindex, domain, reg->bit_position)) < 0)
return -1;
*reg->offset = ret;
}
return 0;
}
/*****************************************************************************/
size_t ecrt_domain_size(ec_domain_t *domain)
{
return domain->data_size;
}
/*****************************************************************************/
void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)
{
down(&domain->master->master_sem);
ec_domain_clear_data(domain);
domain->data = mem;
domain->data_origin = EC_ORIG_EXTERNAL;
up(&domain->master->master_sem);
}
/*****************************************************************************/
uint8_t *ecrt_domain_data(ec_domain_t *domain)
{
return domain->data;
}
/*****************************************************************************/
void ecrt_domain_process(ec_domain_t *domain)
{
uint16_t working_counter_sum;
ec_datagram_t *datagram;
working_counter_sum = 0x0000;
list_for_each_entry(datagram, &domain->datagrams, list) {
ec_datagram_output_stats(datagram);
if (datagram->state == EC_DATAGRAM_RECEIVED) {
working_counter_sum += datagram->working_counter;
}
}
if (working_counter_sum != domain->working_counter) {
domain->working_counter_changes++;
domain->working_counter = working_counter_sum;
}
if (domain->working_counter_changes &&
jiffies - domain->notify_jiffies > HZ) {
domain->notify_jiffies = jiffies;
if (domain->working_counter_changes == 1) {
EC_INFO("Domain %u: Working counter changed to %u/%u.\n",
domain->index, domain->working_counter,
domain->expected_working_counter);
} else {
EC_INFO("Domain %u: %u working counter changes - now %u/%u.\n",
domain->index, domain->working_counter_changes,
domain->working_counter, domain->expected_working_counter);
}
domain->working_counter_changes = 0;
}
}
/*****************************************************************************/
void ecrt_domain_queue(ec_domain_t *domain)
{
ec_datagram_t *datagram;
list_for_each_entry(datagram, &domain->datagrams, list) {
ec_master_queue_datagram(domain->master, datagram);
}
}
/*****************************************************************************/
void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
{
state->working_counter = domain->working_counter;
if (domain->working_counter) {
if (domain->working_counter == domain->expected_working_counter) {
state->wc_state = EC_WC_COMPLETE;
} else {
state->wc_state = EC_WC_INCOMPLETE;
}
} else {
state->wc_state = EC_WC_ZERO;
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);
EXPORT_SYMBOL(ecrt_domain_size);
EXPORT_SYMBOL(ecrt_domain_external_memory);
EXPORT_SYMBOL(ecrt_domain_data);
EXPORT_SYMBOL(ecrt_domain_process);
EXPORT_SYMBOL(ecrt_domain_queue);
EXPORT_SYMBOL(ecrt_domain_state);
/** \endcond */
/*****************************************************************************/