fp@42: /******************************************************************************
fp@42:  *
fp@42:  *  $Id$
fp@42:  *
fp@1685:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@1685:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1685:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1685:  *  published by the Free Software Foundation.
fp@1685:  *
fp@1685:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1685:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1685:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1685:  *  Public License for more details.
fp@1685:  *
fp@1685:  *  You should have received a copy of the GNU General Public License along
fp@1685:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@1685:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1685:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@42:  *****************************************************************************/
fp@42: 
fp@199: /**
fp@199:    \file
fp@199:    EtherCAT domain methods.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@294: #include <linux/module.h>
fp@294: 
fp@54: #include "globals.h"
fp@792: #include "master.h"
fp@792: #include "slave_config.h"
fp@792: 
fp@54: #include "domain.h"
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@809: void ec_domain_clear_data(ec_domain_t *);
fp@199: 
fp@178: /*****************************************************************************/
fp@178: 
fp@792: /** Domain constructor.
fp@993:  */
fp@993: void ec_domain_init(
fp@792:         ec_domain_t *domain, /**< EtherCAT domain. */
fp@792:         ec_master_t *master, /**< Parent master. */
fp@792:         unsigned int index /**< Index. */
fp@792:         )
fp@73: {
fp@73:     domain->master = master;
fp@178:     domain->index = index;
fp@985:     INIT_LIST_HEAD(&domain->fmmu_configs);
fp@73:     domain->data_size = 0;
fp@809:     domain->data = NULL;
fp@809:     domain->data_origin = EC_ORIG_INTERNAL;
fp@985:     domain->logical_base_address = 0x00000000;
fp@985:     INIT_LIST_HEAD(&domain->datagrams);
fp@1032:     domain->working_counter = 0x0000;
fp@985:     domain->expected_working_counter = 0x0000;
fp@818:     domain->working_counter_changes = 0;
fp@344:     domain->notify_jiffies = 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@818: /** Domain destructor.
fp@993:  */
fp@993: void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
fp@993: {
fp@993:     ec_datagram_t *datagram, *next;
fp@993: 
fp@993:     // dequeue and free datagrams
fp@993:     list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
fp@448:         if (!list_empty(&datagram->queue)) // datagram queued?
fp@993:             list_del(&datagram->queue);
fp@293:         ec_datagram_clear(datagram);
fp@293:         kfree(datagram);
fp@144:     }
fp@98: 
fp@809:     ec_domain_clear_data(domain);
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@809: /** Frees internally allocated memory.
fp@809:  */
fp@809: void ec_domain_clear_data(
fp@809:         ec_domain_t *domain /**< EtherCAT domain. */
fp@809:         )
fp@809: {
fp@809:     if (domain->data_origin == EC_ORIG_INTERNAL && domain->data)
fp@809:         kfree(domain->data);
fp@809:     domain->data = NULL;
fp@809:     domain->data_origin = EC_ORIG_INTERNAL;
fp@809: }
fp@809: 
fp@809: /*****************************************************************************/
fp@809: 
fp@818: /** Adds an FMMU configuration to the domain.
fp@818:  */
fp@818: void ec_domain_add_fmmu_config(
fp@818:         ec_domain_t *domain, /**< EtherCAT domain. */
fp@818:         ec_fmmu_config_t *fmmu /**< FMMU configuration. */
fp@818:         )
fp@818: {
fp@818:     fmmu->domain = domain;
fp@818: 
fp@818:     domain->data_size += fmmu->data_size;
fp@950:     list_add_tail(&fmmu->list, &domain->fmmu_configs);
fp@912: 
fp@912:     if (domain->master->debug_level)
fp@985:         EC_DBG("Domain %u: Added %u bytes, total %u.\n", domain->index,
fp@985:                 fmmu->data_size, domain->data_size);
fp@818: }
fp@818: 
fp@818: /*****************************************************************************/
fp@818: 
fp@792: /** Allocates a domain datagram and appends it to the list.
fp@792:  *
fp@985:  * The datagram type and expected working counters are determined by the
fp@985:  * number of input and output fmmus that share the datagram.
fp@985:  *
fp@635:  * \return 0 in case of success, else < 0
fp@635:  */
fp@792: int ec_domain_add_datagram(
fp@792:         ec_domain_t *domain, /**< EtherCAT domain. */
fp@809:         uint32_t logical_offset, /**< Logical offset. */
fp@809:         size_t data_size, /**< Size of the data. */
fp@817:         uint8_t *data, /**< Process data. */
fp@817:         const unsigned int used[] /**< Used by inputs/outputs. */
fp@635:         )
fp@325: {
fp@293:     ec_datagram_t *datagram;
fp@293: 
fp@293:     if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
fp@293:         EC_ERR("Failed to allocate domain datagram!\n");
fp@144:         return -1;
fp@144:     }
fp@144: 
fp@293:     ec_datagram_init(datagram);
fp@719:     snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,
fp@809:             "domain%u-%u", domain->index, logical_offset);
fp@809: 
fp@817:     if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs
fp@817:         if (ec_datagram_lrw(datagram, logical_offset, data_size, data)) {
fp@817:             kfree(datagram);
fp@817:             return -1;
fp@817:         }
fp@985:         // If LRW is used, output FMMUs increment the working counter by 2,
fp@985:         // while input FMMUs increment it by 1.
fp@1653:         domain->expected_working_counter +=
fp@985:             used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT];
fp@817:     } else if (used[EC_DIR_OUTPUT]) { // outputs only
fp@817:         if (ec_datagram_lwr(datagram, logical_offset, data_size, data)) {
fp@817:             kfree(datagram);
fp@817:             return -1;
fp@817:         }
fp@1653:         domain->expected_working_counter += used[EC_DIR_OUTPUT];
fp@817:     } else { // inputs only (or nothing)
fp@817:         if (ec_datagram_lrd(datagram, logical_offset, data_size, data)) {
fp@817:             kfree(datagram);
fp@817:             return -1;
fp@817:         }
fp@1653:         domain->expected_working_counter += used[EC_DIR_INPUT];
fp@144:     }
fp@144: 
fp@293:     list_add_tail(&datagram->list, &domain->datagrams);
fp@144:     return 0;
fp@144: }
fp@144: 
fp@144: /*****************************************************************************/
fp@144: 
fp@792: /** Finishes a domain.
fp@792:  *
fp@792:  * This allocates the necessary datagrams and writes the correct logical
fp@792:  * addresses to every configured FMMU.
fp@792:  *
fp@809:  * \todo Check for FMMUs that do not fit into any datagram.
fp@809:  *
fp@792:  * \retval 0 in case of success
fp@792:  * \retval <0 on failure.
fp@792:  */
fp@792: int ec_domain_finish(
fp@792:         ec_domain_t *domain, /**< EtherCAT domain. */
fp@792:         uint32_t base_address /**< Logical base address. */
fp@792:         )
fp@792: {
fp@792:     uint32_t datagram_offset;
fp@809:     size_t datagram_size;
fp@985:     unsigned int datagram_count;
fp@1055:     unsigned int datagram_used[EC_DIR_COUNT];
fp@792:     ec_fmmu_config_t *fmmu;
fp@817:     const ec_datagram_t *datagram;
fp@73: 
fp@809:     domain->logical_base_address = base_address;
fp@809: 
fp@809:     if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {
fp@809:         if (!(domain->data =
fp@809:                     (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {
fp@809:             EC_ERR("Failed to allocate %u bytes internal memory for"
fp@809:                     " domain %u!\n", domain->data_size, domain->index);
fp@809:             return -1;
fp@809:         }
fp@809:     }
fp@809: 
fp@985:     // Cycle through all domain FMMUS and
fp@985:     // - correct the logical base addresses
fp@985:     // - set up the datagrams to carry the process data
fp@809:     datagram_offset = 0;
fp@809:     datagram_size = 0;
fp@325:     datagram_count = 0;
fp@817:     datagram_used[EC_DIR_OUTPUT] = 0;
fp@817:     datagram_used[EC_DIR_INPUT] = 0;
fp@817: 
fp@985:     list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
fp@985:         // Correct logical FMMU address
fp@985:         fmmu->logical_start_address += base_address;
fp@985: 
fp@985:         // Increment Input/Output counter to determine datagram types
fp@985:         // and calculate expected working counters
fp@985:         datagram_used[fmmu->dir]++;
fp@985: 
fp@985:         // If the current FMMU's data do not fit in the current datagram,
fp@985:         // allocate a new one.
fp@985:         if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) {
fp@985:             if (ec_domain_add_datagram(domain,
fp@985:                         domain->logical_base_address + datagram_offset,
fp@985:                         datagram_size, domain->data + datagram_offset,
fp@985:                         datagram_used))
fp@985:                 return -1;
fp@985:             datagram_offset += datagram_size;
fp@985:             datagram_size = 0;
fp@985:             datagram_count++;
fp@985:             datagram_used[EC_DIR_OUTPUT] = 0;
fp@985:             datagram_used[EC_DIR_INPUT] = 0;
fp@985:         }
fp@985: 
fp@985:         datagram_size += fmmu->data_size;
fp@809:     }
fp@809: 
fp@993:     // Allocate last datagram, if data are left (this is also the case if the
fp@993:     // process data fit into a single datagram)
fp@809:     if (datagram_size) {
fp@809:         if (ec_domain_add_datagram(domain,
fp@809:                     domain->logical_base_address + datagram_offset,
fp@817:                     datagram_size, domain->data + datagram_offset,
fp@817:                     datagram_used))
fp@144:             return -1;
fp@325:         datagram_count++;
fp@325:     }
fp@325: 
fp@985:     EC_INFO("Domain%u: Logical address 0x%08x, %u byte, "
fp@985:             "expected working counter %u.\n", domain->index,
fp@985:             domain->logical_base_address, domain->data_size,
fp@985:             domain->expected_working_counter);
fp@817:     list_for_each_entry(datagram, &domain->datagrams, list) {
fp@985:         EC_INFO("  Datagram %s: Logical offset 0x%08x, %u byte, type %s.\n",
fp@817:                 datagram->name, EC_READ_U32(datagram->address),
fp@817:                 datagram->data_size, ec_datagram_type_string(datagram));
fp@817:     }
fp@817:     
fp@325:     return 0;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@1092: /** Get the number of FMMU configurations of the domain.
fp@1092:  */
fp@950: unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
fp@950: {
fp@950:     const ec_fmmu_config_t *fmmu;
fp@950:     unsigned int num = 0;
fp@950: 
fp@950:     list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
fp@950:         num++;
fp@950:     }
fp@950: 
fp@950:     return num;
fp@950: }
fp@950: 
fp@950: /*****************************************************************************/
fp@950: 
fp@1092: /** Get a certain FMMU configuration via its position in the list.
fp@1092:  */
fp@950: const ec_fmmu_config_t *ec_domain_find_fmmu(
fp@1092:         const ec_domain_t *domain, /**< EtherCAT domain. */
fp@1092:         unsigned int pos /**< List position. */
fp@950:         )
fp@950: {
fp@950:     const ec_fmmu_config_t *fmmu;
fp@950: 
fp@950:     list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
fp@1092:         if (pos--)
fp@950:             continue;
fp@950:         return fmmu;
fp@950:     }
fp@950: 
fp@950:     return NULL;
fp@950: }
fp@950: 
fp@73: /******************************************************************************
fp@195:  *  Realtime interface
fp@73:  *****************************************************************************/
fp@73: 
fp@792: int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
fp@792:         const ec_pdo_entry_reg_t *regs)
fp@792: {
fp@792:     const ec_pdo_entry_reg_t *reg;
fp@792:     ec_slave_config_t *sc;
fp@792:     int ret;
fp@640:     
fp@1181:     if (domain->master->debug_level)
fp@1181:         EC_DBG("ecrt_domain_reg_pdo_entry_list(domain = 0x%x, regs = 0x%x)\n",
fp@1181:                 (u32) domain, (u32) regs);
fp@1181: 
fp@792:     for (reg = regs; reg->index; reg++) {
fp@792:         if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
fp@1010:                         reg->position, reg->vendor_id, reg->product_code)))
fp@98:             return -1;
fp@98: 
fp@807:         if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
fp@925:                         reg->subindex, domain, reg->bit_position)) < 0)
fp@916:             return -1;
fp@916: 
fp@916:         *reg->offset = ret;
fp@916:     }
fp@916: 
fp@916:     return 0;
fp@916: }
fp@916: 
fp@916: /*****************************************************************************/
fp@916: 
fp@1689: size_t ecrt_domain_size(const ec_domain_t *domain)
fp@809: {
fp@809:     return domain->data_size;
fp@809: }
fp@809: 
fp@809: /*****************************************************************************/
fp@809: 
fp@809: void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)
fp@809: {
fp@1181:     if (domain->master->debug_level)
fp@1181:         EC_DBG("ecrt_domain_external_memory(domain = 0x%x, mem = 0x%x)\n",
fp@1181:                 (u32) domain, (u32) mem);
fp@1181: 
fp@1075:     down(&domain->master->master_sem);
fp@1075: 
fp@809:     ec_domain_clear_data(domain);
fp@809: 
fp@809:     domain->data = mem;
fp@809:     domain->data_origin = EC_ORIG_EXTERNAL;
fp@1075: 
fp@1075:     up(&domain->master->master_sem);
fp@809: }
fp@809: 
fp@809: /*****************************************************************************/
fp@809: 
fp@809: uint8_t *ecrt_domain_data(ec_domain_t *domain)
fp@809: {
fp@809:     return domain->data;
fp@809: }
fp@809: 
fp@809: /*****************************************************************************/
fp@809: 
fp@792: void ecrt_domain_process(ec_domain_t *domain)
fp@98: {
fp@985:     uint16_t working_counter_sum;
fp@293:     ec_datagram_t *datagram;
fp@98: 
fp@985:     working_counter_sum = 0x0000;
fp@293:     list_for_each_entry(datagram, &domain->datagrams, list) {
fp@719:         ec_datagram_output_stats(datagram);
fp@325:         if (datagram->state == EC_DATAGRAM_RECEIVED) {
fp@293:             working_counter_sum += datagram->working_counter;
fp@98:         }
fp@98:     }
fp@73: 
fp@792:     if (working_counter_sum != domain->working_counter) {
fp@332:         domain->working_counter_changes++;
fp@792:         domain->working_counter = working_counter_sum;
fp@332:     }
fp@332: 
fp@332:     if (domain->working_counter_changes &&
fp@344:         jiffies - domain->notify_jiffies > HZ) {
fp@344:         domain->notify_jiffies = jiffies;
fp@332:         if (domain->working_counter_changes == 1) {
fp@912:             EC_INFO("Domain %u: Working counter changed to %u/%u.\n",
fp@912:                     domain->index, domain->working_counter,
fp@912:                     domain->expected_working_counter);
fp@985:         } else {
fp@1116:             EC_INFO("Domain %u: %u working counter changes - now %u/%u.\n",
fp@1116:                     domain->index, domain->working_counter_changes,
fp@1116:                     domain->working_counter, domain->expected_working_counter);
fp@332:         }
fp@332:         domain->working_counter_changes = 0;
fp@325:     }
fp@494: }
fp@494: 
fp@494: /*****************************************************************************/
fp@494: 
fp@792: void ecrt_domain_queue(ec_domain_t *domain)
fp@494: {
fp@494:     ec_datagram_t *datagram;
fp@494: 
fp@494:     list_for_each_entry(datagram, &domain->datagrams, list) {
fp@494:         ec_master_queue_datagram(domain->master, datagram);
fp@494:     }
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@792: void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
fp@792: {
fp@792:     state->working_counter = domain->working_counter;
fp@818: 
fp@818:     if (domain->working_counter) {
fp@818:         if (domain->working_counter == domain->expected_working_counter) {
fp@818:             state->wc_state = EC_WC_COMPLETE;
fp@818:         } else {
fp@818:             state->wc_state = EC_WC_INCOMPLETE;
fp@818:         }
fp@818:     } else {
fp@818:         state->wc_state = EC_WC_ZERO;
fp@818:     }
fp@105: }
fp@105: 
fp@105: /*****************************************************************************/
fp@105: 
fp@199: /** \cond */
fp@199: 
fp@792: EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);
fp@809: EXPORT_SYMBOL(ecrt_domain_size);
fp@809: EXPORT_SYMBOL(ecrt_domain_external_memory);
fp@809: EXPORT_SYMBOL(ecrt_domain_data);
fp@104: EXPORT_SYMBOL(ecrt_domain_process);
fp@494: EXPORT_SYMBOL(ecrt_domain_queue);
fp@105: EXPORT_SYMBOL(ecrt_domain_state);
fp@42: 
fp@199: /** \endcond */
fp@199: 
fp@199: /*****************************************************************************/