# HG changeset patch # User Dave Page # Date 1428345571 14400 # Node ID 668aa5e311377f0f5d08856b1ccdbe62644d1abe # Parent f09b0623a2c1b67ccc1570ea565295f559f4bdce overlapping PDO split datagram support diff -r f09b0623a2c1 -r 668aa5e31137 master/domain.c --- a/master/domain.c Thu Apr 02 16:49:36 2015 -0400 +++ b/master/domain.c Mon Apr 06 14:39:31 2015 -0400 @@ -79,7 +79,10 @@ domain->working_counter_changes = 0; domain->redundancy_active = 0; domain->notify_jiffies = 0; + + /* Used by ec_domain_add_fmmu_config */ memset(domain->offset_used, 0, sizeof(domain->offset_used)); + domain->sc_in_work = 0; } /*****************************************************************************/ @@ -135,9 +138,9 @@ fmmu_data_size = ec_pdo_list_total_size( &sc->sync_configs[fmmu->sync_index].pdos); - if (sc->allow_overlapping_pdos && sc->used_fmmus) { + if (sc->allow_overlapping_pdos && (sc == domain->sc_in_work)) { // If we permit overlapped PDOs, and we already have an allocated FMMU - // for this slave, alocate the subsequent FMMU offsets by direction + // for this slave, allocate the subsequent FMMU offsets by direction logical_domain_offset = domain->offset_used[fmmu->dir]; } else { // otherwise, allocate to the furthest extent of any allocated @@ -148,13 +151,15 @@ domain->offset_used[EC_DIR_INPUT] = logical_domain_offset; domain->offset_used[EC_DIR_OUTPUT] = logical_domain_offset; } + domain->sc_in_work = sc; + // consume the offset space for this FMMU's direction domain->offset_used[fmmu->dir] += fmmu_data_size; ec_fmmu_set_domain_offset_size(fmmu, logical_domain_offset, fmmu_data_size); list_add_tail(&fmmu->list, &domain->fmmu_configs); - + // Determine domain size from furthest extent of FMMU data domain->data_size = max(domain->offset_used[EC_DIR_INPUT], domain->offset_used[EC_DIR_OUTPUT]); @@ -222,7 +227,7 @@ * * \return Non-zero if slave connfig was already counted. */ -int shall_count( +static int shall_count( const ec_fmmu_config_t *cur_fmmu, /**< Current FMMU with direction to search for. */ const ec_fmmu_config_t *first_fmmu /**< Datagram's first FMMU. */ @@ -243,13 +248,55 @@ /*****************************************************************************/ +/** Domain finish helper function. + * + * Known boundaries for a datagram have been identified. Scans the datagram + * FMMU boundaries for WKC counters and then creates the datagram_pair. + * + * \param domain The parent domain + * \param datagram_begin_offset Datagram's logical beginning offset + * \param datagram_end_offset Logical end offset (one past last byte) + * \param datagram_first_fmmu The begin FMMU in the datagram + * \param datagram_end_fmmu The end (one past last) FMMU + * + * \return Non-zero if error emplacing domain + */ + static int emplace_datagram(ec_domain_t *domain, + uint32_t datagram_begin_offset, + uint32_t datagram_end_offset, + const ec_fmmu_config_t *datagram_first_fmmu, + const ec_fmmu_config_t *datagram_end_fmmu +) +{ + unsigned int datagram_used[EC_DIR_COUNT]; + const ec_fmmu_config_t *curr_fmmu; + size_t data_size; + + data_size = datagram_end_offset - datagram_begin_offset; + + memset(datagram_used, 0, sizeof(datagram_used)); + for (curr_fmmu = datagram_first_fmmu; + &curr_fmmu->list != &datagram_end_fmmu->list; + curr_fmmu = list_next_entry(curr_fmmu, list)) { + if (shall_count(curr_fmmu, datagram_first_fmmu)) { + datagram_used[curr_fmmu->dir]++; + } + } + + return ec_domain_add_datagram_pair(domain, + domain->logical_base_address + datagram_begin_offset, + data_size, + domain->data + datagram_begin_offset, + datagram_used); +} + +/*****************************************************************************/ + /** 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 Success * \retval <0 Error code. */ @@ -258,12 +305,13 @@ 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]; + uint32_t datagram_offset = 0; + unsigned int datagram_count = 0; ec_fmmu_config_t *fmmu; const ec_fmmu_config_t *datagram_first_fmmu = NULL; + const ec_fmmu_config_t *valid_fmmu = NULL; + unsigned candidate_start = 0; + unsigned valid_start = 0; const ec_datagram_pair_t *datagram_pair; int ret; @@ -283,52 +331,48 @@ // - correct the logical base addresses // - set up the datagrams to carry the process data // - calculate the datagrams' expected working counters - datagram_offset = 0; - datagram_size = 0; - datagram_count = 0; - datagram_used[EC_DIR_OUTPUT] = 0; - datagram_used[EC_DIR_INPUT] = 0; - if (!list_empty(&domain->fmmu_configs)) { datagram_first_fmmu = list_entry(domain->fmmu_configs.next, ec_fmmu_config_t, list); } list_for_each_entry(fmmu, &domain->fmmu_configs, list) { - // Increment Input/Output counter to determine datagram types - // and calculate expected working counters - if (shall_count(fmmu, datagram_first_fmmu)) { - 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) { - ret = ec_domain_add_datagram_pair(domain, - domain->logical_base_address + datagram_offset, - datagram_size, domain->data + datagram_offset, - datagram_used); - if (ret < 0) - return ret; - - datagram_offset += datagram_size; - datagram_size = 0; - datagram_count++; - datagram_used[EC_DIR_OUTPUT] = 0; - datagram_used[EC_DIR_INPUT] = 0; - datagram_first_fmmu = fmmu; - } - - datagram_size += fmmu->data_size; + if (fmmu->data_size > EC_MAX_DATA_SIZE) { + EC_MASTER_ERR(domain->master, + "FMMU size %u bytes exceeds maximum data size %u", + fmmu->data_size, EC_MAX_DATA_SIZE); + return -EINVAL; + } + if (fmmu->logical_domain_offset >= candidate_start) { + // As FMMU offsets increase monotonically, and candidate start + // offset has never been contradicted, it can now never be + // contradicted, as no future FMMU can cross it. + if (candidate_start - datagram_offset > EC_MAX_DATA_SIZE) { + // yet the new candidate exceeds the datagram size, so we + // use the last known valid candidate to create the datagram + ret = emplace_datagram(domain, datagram_offset, valid_start, + datagram_first_fmmu, valid_fmmu); + if (ret < 0) + return ret; + + datagram_offset = valid_start; + datagram_count++; + datagram_first_fmmu = fmmu; + } + // All FMMUs prior to this point approved for next datagram + valid_fmmu = fmmu; + valid_start = candidate_start; + } + if (fmmu->logical_domain_offset + fmmu->data_size > candidate_start) { + candidate_start = fmmu->logical_domain_offset + fmmu->data_size; + } } /* Allocate last datagram pair, if data are left (this is also the case if * the process data fit into a single datagram) */ - if (datagram_size) { - ret = ec_domain_add_datagram_pair(domain, - domain->logical_base_address + datagram_offset, - datagram_size, domain->data + datagram_offset, - datagram_used); + if (domain->data_size > datagram_offset) { + ret = emplace_datagram(domain, datagram_offset, domain->data_size, + datagram_first_fmmu, fmmu); if (ret < 0) return ret; datagram_count++; diff -r f09b0623a2c1 -r 668aa5e31137 master/domain.h --- a/master/domain.h Thu Apr 02 16:49:36 2015 -0400 +++ b/master/domain.h Mon Apr 06 14:39:31 2015 -0400 @@ -74,6 +74,11 @@ unsigned long notify_jiffies; /**< Time of last notification. */ uint32_t offset_used[EC_DIR_COUNT]; /**< Next available domain offset of PDO, by direction */ + const ec_slave_config_t *sc_in_work; /**< slave_config which is actively + being registered in this domain + (i.e. ecrt_slave_config_reg_pdo_entry() ) */ + unsigned sc_in_work_start_offset; /**< Starting domain offset of slave + config in work */ }; /*****************************************************************************/