--- a/master/Kbuild.in Thu Jan 12 13:55:15 2012 +0100
+++ b/master/Kbuild.in Thu Jan 12 17:41:05 2012 +0100
@@ -36,6 +36,7 @@
ec_master-objs := \
cdev.o \
datagram.o \
+ datagram_pair.o \
device.o \
domain.o \
fmmu_config.o \
--- a/master/Makefile.am Thu Jan 12 13:55:15 2012 +0100
+++ b/master/Makefile.am Thu Jan 12 17:41:05 2012 +0100
@@ -31,6 +31,7 @@
noinst_HEADERS = \
cdev.c cdev.h \
datagram.c datagram.h \
+ datagram_pair.c datagram_pair.h \
debug.c debug.h \
device.c device.h \
domain.c domain.h \
--- a/master/datagram.c Thu Jan 12 13:55:15 2012 +0100
+++ b/master/datagram.c Thu Jan 12 17:41:05 2012 +0100
@@ -428,12 +428,69 @@
/** Initializes an EtherCAT LRD datagram.
*
+ * \return Return value of ec_datagram_prealloc().
+ */
+int ec_datagram_lrd(
+ ec_datagram_t *datagram, /**< EtherCAT datagram. */
+ uint32_t offset, /**< Logical address. */
+ size_t data_size /**< Number of bytes to read/write. */
+ )
+{
+ int ret;
+ EC_FUNC_HEADER;
+ datagram->type = EC_DATAGRAM_LRD;
+ EC_WRITE_U32(datagram->address, offset);
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/** Initializes an EtherCAT LWR datagram.
+ *
+ * \return Return value of ec_datagram_prealloc().
+ */
+int ec_datagram_lwr(
+ ec_datagram_t *datagram, /**< EtherCAT datagram. */
+ uint32_t offset, /**< Logical address. */
+ size_t data_size /**< Number of bytes to read/write. */
+ )
+{
+ int ret;
+ EC_FUNC_HEADER;
+ datagram->type = EC_DATAGRAM_LWR;
+ EC_WRITE_U32(datagram->address, offset);
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/** Initializes an EtherCAT LRW datagram.
+ *
+ * \return Return value of ec_datagram_prealloc().
+ */
+int ec_datagram_lrw(
+ ec_datagram_t *datagram, /**< EtherCAT datagram. */
+ uint32_t offset, /**< Logical address. */
+ size_t data_size /**< Number of bytes to read/write. */
+ )
+{
+ int ret;
+ EC_FUNC_HEADER;
+ datagram->type = EC_DATAGRAM_LRW;
+ EC_WRITE_U32(datagram->address, offset);
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/** Initializes an EtherCAT LRD datagram with external memory.
+ *
* \attention It is assumed, that the external memory is at least \a data_size
* bytes large.
*
* \return Return value of ec_datagram_prealloc().
*/
-int ec_datagram_lrd(
+int ec_datagram_lrd_ext(
ec_datagram_t *datagram, /**< EtherCAT datagram. */
uint32_t offset, /**< Logical address. */
size_t data_size, /**< Number of bytes to read/write. */
@@ -451,14 +508,14 @@
/*****************************************************************************/
-/** Initializes an EtherCAT LWR datagram.
+/** Initializes an EtherCAT LWR datagram with external memory.
*
* \attention It is assumed, that the external memory is at least \a data_size
* bytes large.
*
* \return Return value of ec_datagram_prealloc().
*/
-int ec_datagram_lwr(
+int ec_datagram_lwr_ext(
ec_datagram_t *datagram, /**< EtherCAT datagram. */
uint32_t offset, /**< Logical address. */
size_t data_size, /**< Number of bytes to read/write. */
@@ -476,14 +533,14 @@
/*****************************************************************************/
-/** Initializes an EtherCAT LRW datagram.
+/** Initializes an EtherCAT LRW datagram with external memory.
*
* \attention It is assumed, that the external memory is at least \a data_size
* bytes large.
*
* \return Return value of ec_datagram_prealloc().
*/
-int ec_datagram_lrw(
+int ec_datagram_lrw_ext(
ec_datagram_t *datagram, /**< EtherCAT datagram. */
uint32_t offset, /**< Logical address. */
size_t data_size, /**< Number of bytes to read/write. */
--- a/master/datagram.h Thu Jan 12 13:55:15 2012 +0100
+++ b/master/datagram.h Thu Jan 12 17:41:05 2012 +0100
@@ -85,7 +85,6 @@
/** EtherCAT datagram.
*/
typedef struct {
- struct list_head list; /**< Needed by domain datagram lists. */
struct list_head queue; /**< Master datagram queue item. */
struct list_head sent; /**< Master list item for sent datagrams. */
ec_device_index_t device_index; /**< Device via which the datagram shall
@@ -132,9 +131,12 @@
int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);
int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);
int ec_datagram_brw(ec_datagram_t *, uint16_t, size_t);
-int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t, uint8_t *);
-int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t, uint8_t *);
-int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t, uint8_t *);
+int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t);
+int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t);
+int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);
+int ec_datagram_lrd_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
+int ec_datagram_lwr_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
+int ec_datagram_lrw_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
void ec_datagram_print_state(const ec_datagram_t *);
void ec_datagram_print_wc_error(const ec_datagram_t *);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/datagram_pair.c Thu Jan 12 17:41:05 2012 +0100
@@ -0,0 +1,71 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2012 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 version 2, as
+ * published by the Free Software Foundation.
+ *
+ * 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 license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT datagram pair methods.
+*/
+
+/*****************************************************************************/
+
+#include "datagram_pair.h"
+
+/*****************************************************************************/
+
+/** Datagram pair constructor.
+ */
+void ec_datagram_pair_init(
+ ec_datagram_pair_t *pair /**< Datagram pair. */
+ )
+{
+ unsigned int i;
+
+ INIT_LIST_HEAD(&pair->list);
+
+ for (i = 0; i < EC_NUM_DEVICES; i++) {
+ ec_datagram_init(&pair->datagrams[i]);
+ }
+}
+
+/*****************************************************************************/
+
+/** Datagram pair destructor.
+ */
+void ec_datagram_pair_clear(
+ ec_datagram_pair_t *pair /**< Datagram pair. */
+ )
+{
+ unsigned int i;
+
+ for (i = 0; i < EC_NUM_DEVICES; i++) {
+ ec_datagram_clear(&pair->datagrams[i]);
+ }
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/datagram_pair.h Thu Jan 12 17:41:05 2012 +0100
@@ -0,0 +1,62 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2012 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 version 2, as
+ * published by the Free Software Foundation.
+ *
+ * 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 license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT datagram pair structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_DATAGRAM_PAIR_H__
+#define __EC_DATAGRAM_PAIR_H__
+
+#include <linux/list.h>
+
+#include "globals.h"
+#include "datagram.h"
+
+/*****************************************************************************/
+
+/** Domain datagram pair.
+ */
+typedef struct {
+ struct list_head list; /**< List header. */
+ ec_datagram_t datagrams[EC_NUM_DEVICES]; /**< Main and backup datagram.
+ */
+} ec_datagram_pair_t;
+
+/*****************************************************************************/
+
+void ec_datagram_pair_init(ec_datagram_pair_t *);
+void ec_datagram_pair_clear(ec_datagram_pair_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/domain.c Thu Jan 12 13:55:15 2012 +0100
+++ b/master/domain.c Thu Jan 12 17:41:05 2012 +0100
@@ -41,6 +41,7 @@
#include "slave_config.h"
#include "domain.h"
+#include "datagram_pair.h"
/*****************************************************************************/
@@ -63,7 +64,7 @@
domain->data = NULL;
domain->data_origin = EC_ORIG_INTERNAL;
domain->logical_base_address = 0x00000000;
- INIT_LIST_HEAD(&domain->datagrams);
+ INIT_LIST_HEAD(&domain->datagram_pairs);
domain->working_counter = 0x0000;
domain->expected_working_counter = 0x0000;
domain->working_counter_changes = 0;
@@ -76,12 +77,13 @@
*/
void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
{
- ec_datagram_t *datagram, *next;
+ ec_datagram_pair_t *datagram_pair, *next_pair;
// dequeue and free datagrams
- list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
- ec_datagram_clear(datagram);
- kfree(datagram);
+ list_for_each_entry_safe(datagram_pair, next_pair,
+ &domain->datagram_pairs, list) {
+ ec_datagram_pair_clear(datagram_pair);
+ kfree(datagram_pair);
}
ec_domain_clear_data(domain);
@@ -95,8 +97,10 @@
ec_domain_t *domain /**< EtherCAT domain. */
)
{
- if (domain->data_origin == EC_ORIG_INTERNAL && domain->data)
+ if (domain->data_origin == EC_ORIG_INTERNAL && domain->data) {
kfree(domain->data);
+ }
+
domain->data = NULL;
domain->data_origin = EC_ORIG_INTERNAL;
}
@@ -122,15 +126,15 @@
/*****************************************************************************/
-/** 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.
+/** Allocates a domain datagram pair and appends it to the list.
+ *
+ * The datagrams' types and expected working counters are determined by the
+ * number of input and output fmmus that share the datagrams.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
-int ec_domain_add_datagram(
+int ec_domain_add_datagram_pair(
ec_domain_t *domain, /**< EtherCAT domain. */
uint32_t logical_offset, /**< Logical offset. */
size_t data_size, /**< Size of the data. */
@@ -138,47 +142,64 @@
const unsigned int used[] /**< Used by inputs/outputs. */
)
{
- ec_datagram_t *datagram;
+ ec_datagram_pair_t *datagram_pair;
int ret;
-
- if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
+ unsigned int i;
+
+ if (!(datagram_pair = kmalloc(sizeof(ec_datagram_pair_t), GFP_KERNEL))) {
EC_MASTER_ERR(domain->master,
- "Failed to allocate domain datagram!\n");
+ "Failed to allocate domain datagram pair!\n");
return -ENOMEM;
}
- ec_datagram_init(datagram);
- snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,
- "domain%u-%u", domain->index, logical_offset);
+ ec_datagram_pair_init(datagram_pair);
+
+ /* backup datagram has its own memory */
+ ret = ec_datagram_prealloc(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
+ data_size);
+ if (ret) {
+ ec_datagram_pair_clear(datagram_pair);
+ kfree(datagram_pair);
+ return ret;
+ }
+
+ /* The ec_datagram_lxx() calls below can not fail, because either the
+ * datagram has external memory or it is preallocated. */
if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs
- ret = ec_datagram_lrw(datagram, logical_offset, data_size, data);
- if (ret < 0) {
- kfree(datagram);
- return ret;
- }
+ ec_datagram_lrw_ext(&datagram_pair->datagrams[EC_DEVICE_MAIN],
+ logical_offset, data_size, data);
+ ec_datagram_lrw(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
+ logical_offset, data_size);
+
// 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
- ret = ec_datagram_lwr(datagram, logical_offset, data_size, data);
- if (ret < 0) {
- kfree(datagram);
- return ret;
- }
+ ec_datagram_lwr_ext(&datagram_pair->datagrams[EC_DEVICE_MAIN],
+ logical_offset, data_size, data);
+ ec_datagram_lwr(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
+ logical_offset, data_size);
+
domain->expected_working_counter += used[EC_DIR_OUTPUT];
} else { // inputs only (or nothing)
- ret = ec_datagram_lrd(datagram, logical_offset, data_size, data);
- if (ret < 0) {
- kfree(datagram);
- return ret;
- }
+ ec_datagram_lrd_ext(&datagram_pair->datagrams[EC_DEVICE_MAIN],
+ logical_offset, data_size, data);
+ ec_datagram_lrd(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
+ logical_offset, data_size);
+
domain->expected_working_counter += used[EC_DIR_INPUT];
}
- ec_datagram_zero(datagram);
- list_add_tail(&datagram->list, &domain->datagrams);
+ for (i = 0; i < EC_NUM_DEVICES; i++) {
+ snprintf(datagram_pair->datagrams[i].name, EC_DATAGRAM_NAME_SIZE,
+ "domain%u-%u-%s", domain->index, logical_offset,
+ i ? "backup" : "main");
+ ec_datagram_zero(&datagram_pair->datagrams[i]);
+ }
+
+ list_add_tail(&datagram_pair->list, &domain->datagram_pairs);
return 0;
}
@@ -205,7 +226,7 @@
unsigned int datagram_used[EC_DIR_COUNT];
ec_fmmu_config_t *fmmu;
ec_fmmu_config_t *fmmu_temp;
- const ec_datagram_t *datagram;
+ const ec_datagram_pair_t *datagram_pair;
int ret;
domain->logical_base_address = base_address;
@@ -250,7 +271,7 @@
// 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(domain,
+ ret = ec_domain_add_datagram_pair(domain,
domain->logical_base_address + datagram_offset,
datagram_size, domain->data + datagram_offset,
datagram_used);
@@ -270,10 +291,10 @@
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)
+ /* 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(domain,
+ ret = ec_domain_add_datagram_pair(domain,
domain->logical_base_address + datagram_offset,
datagram_size, domain->data + datagram_offset,
datagram_used);
@@ -286,13 +307,16 @@
" %zu 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) {
+
+ list_for_each_entry(datagram_pair, &domain->datagram_pairs, list) {
+ const ec_datagram_t *datagram =
+ &datagram_pair->datagrams[EC_DEVICE_MAIN];
EC_MASTER_INFO(domain->master, " Datagram %s: Logical offset 0x%08x,"
" %zu byte, type %s.\n", datagram->name,
EC_READ_U32(datagram->address), datagram->data_size,
ec_datagram_type_string(datagram));
}
-
+
return 0;
}
@@ -333,7 +357,7 @@
}
/******************************************************************************
- * Realtime interface
+ * Application interface
*****************************************************************************/
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
@@ -342,7 +366,7 @@
const ec_pdo_entry_reg_t *reg;
ec_slave_config_t *sc;
int ret;
-
+
EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list("
"domain = 0x%p, regs = 0x%p)\n", domain, regs);
@@ -399,13 +423,17 @@
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;
+ ec_datagram_pair_t *datagram_pair;
+ unsigned int i;
+
+ working_counter_sum = 0;
+ list_for_each_entry(datagram_pair, &domain->datagram_pairs, list) {
+ for (i = 0; i < EC_NUM_DEVICES; i++) {
+ ec_datagram_t *datagram = &datagram_pair->datagrams[i];
+ ec_datagram_output_stats(datagram);
+ if (datagram->state == EC_DATAGRAM_RECEIVED) {
+ working_counter_sum += datagram->working_counter;
+ }
}
}
@@ -435,10 +463,20 @@
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, EC_DEVICE_MAIN);
+ ec_datagram_pair_t *datagram_pair;
+ unsigned int i;
+
+ list_for_each_entry(datagram_pair, &domain->datagram_pairs, list) {
+
+ /* copy main data to backup datagram */
+ memcpy(datagram_pair->datagrams[EC_DEVICE_BACKUP].data,
+ datagram_pair->datagrams[EC_DEVICE_MAIN].data,
+ datagram_pair->datagrams[EC_DEVICE_MAIN].data_size);
+
+ for (i = 0; i < EC_NUM_DEVICES; i++) {
+ ec_master_queue_datagram(domain->master,
+ &datagram_pair->datagrams[i], i);
+ }
}
}
--- a/master/domain.h Thu Jan 12 13:55:15 2012 +0100
+++ b/master/domain.h Thu Jan 12 17:41:05 2012 +0100
@@ -63,7 +63,8 @@
ec_origin_t data_origin; /**< Origin of the \a data memory. */
uint32_t logical_base_address; /**< Logical offset address of the
process data. */
- struct list_head datagrams; /**< Datagrams for process data exchange. */
+ struct list_head datagram_pairs; /**< Datagrams pairs (main/backup) for
+ process data exchange. */
uint16_t working_counter; /**< Last working counter value. */
uint16_t expected_working_counter; /**< Expected working counter. */
--- a/master/master.c Thu Jan 12 13:55:15 2012 +0100
+++ b/master/master.c Thu Jan 12 17:41:05 2012 +0100
@@ -2218,27 +2218,31 @@
}
ec_master_inject_external_datagrams(master);
- if (unlikely(!master->devices[EC_DEVICE_MAIN].link_state)) {
- // link is down, no datagram can be sent
- list_for_each_entry_safe(datagram, n,
- &master->datagram_queue, queue) {
- datagram->state = EC_DATAGRAM_ERROR;
- list_del_init(&datagram->queue);
- }
-
- // query link state
- ec_device_poll(&master->devices[EC_DEVICE_MAIN]);
-
- // clear frame statistics
- ec_device_clear_stats(&master->devices[EC_DEVICE_MAIN]);
- return;
- }
-
- // send frames
for (i = 0; i < EC_NUM_DEVICES; i++) {
- if (master->devices[i].dev) {
- ec_master_send_datagrams(master, i);
- }
+ if (unlikely(!master->devices[i].link_state)) {
+ // link is down, no datagram can be sent
+ list_for_each_entry_safe(datagram, n,
+ &master->datagram_queue, queue) {
+ if (datagram->device_index == i) {
+ datagram->state = EC_DATAGRAM_ERROR;
+ list_del_init(&datagram->queue);
+ }
+ }
+
+ if (!master->devices[i].dev) {
+ continue;
+ }
+
+ // query link state
+ ec_device_poll(&master->devices[i]);
+
+ // clear frame statistics
+ ec_device_clear_stats(&master->devices[i]);
+ return;
+ }
+
+ // send frames
+ ec_master_send_datagrams(master, i);
}
}