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Improved preprocessor macro usage reg. redundancy.

This commit is contained in:
Florian Pose 2012-12-04 14:24:01 +01:00
parent b5373b36d4
commit e466f69c37
1 changed files with 76 additions and 81 deletions
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157
master/domain.c
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@ -452,106 +452,101 @@ uint8_t *ecrt_domain_data(ec_domain_t *domain)
void ecrt_domain_process(ec_domain_t *domain)
{
uint16_t wc_sum[EC_MAX_NUM_DEVICES] = {}, redundant_wc, wc_total;
ec_datagram_pair_t *pair;
ec_datagram_t *main_datagram;
uint32_t logical_datagram_address;
size_t datagram_size;
uint16_t datagram_pair_wc;
unsigned int dev_idx, wc_change;
#if EC_MAX_NUM_DEVICES > 1
ec_fmmu_config_t *fmmu =
list_first_entry(&domain->fmmu_configs, ec_fmmu_config_t, list);
#endif
unsigned int redundancy;
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "domain %u process\n", domain->index);
#endif
list_for_each_entry(pair, &domain->datagram_pairs, list) {
main_datagram = &pair->datagrams[EC_DEVICE_MAIN];
logical_datagram_address = EC_READ_U32(main_datagram->address);
datagram_size = main_datagram->data_size;
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "dgram %s log=%u\n",
main_datagram->name, logical_datagram_address);
#endif
datagram_pair_wc = ec_datagram_pair_process(pair, wc_sum);
#if EC_MAX_NUM_DEVICES > 1
if (ec_master_num_devices(domain->master) < 2) {
continue;
}
if (ec_master_num_devices(domain->master) > 1) {
ec_datagram_pair_t *pair;
ec_fmmu_config_t *fmmu =
list_first_entry(&domain->fmmu_configs, ec_fmmu_config_t, list);
/* Redundancy: Go through all FMMU configs to detect data changes. */
list_for_each_entry_from(fmmu, &domain->fmmu_configs, list) {
unsigned int datagram_offset;
ec_datagram_t *backup_datagram =
&pair->datagrams[EC_DEVICE_BACKUP];
if (fmmu->dir != EC_DIR_INPUT) {
continue;
}
if (fmmu->logical_start_address >=
logical_datagram_address + datagram_size) {
// fmmu data contained in next datagram pair
break;
}
datagram_offset =
fmmu->logical_start_address - logical_datagram_address;
list_for_each_entry(pair, &domain->datagram_pairs, list) {
ec_datagram_t *main_datagram = &pair->datagrams[EC_DEVICE_MAIN];
uint32_t logical_datagram_address =
EC_READ_U32(main_datagram->address);
size_t datagram_size = main_datagram->data_size;
uint16_t datagram_pair_wc;
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1,
"input fmmu log=%u size=%u offset=%u\n",
fmmu->logical_start_address, fmmu->data_size,
datagram_offset);
if (domain->master->debug_level > 0) {
ec_print_data(pair->send_buffer + datagram_offset,
fmmu->data_size);
ec_print_data(main_datagram->data + datagram_offset,
fmmu->data_size);
ec_print_data(backup_datagram->data + datagram_offset,
fmmu->data_size);
}
EC_MASTER_DBG(domain->master, 1, "dgram %s log=%u\n",
main_datagram->name, logical_datagram_address);
#endif
if (data_changed(pair->send_buffer, main_datagram,
datagram_offset, fmmu->data_size)) {
/* data changed on main link: no copying necessary. */
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "main changed\n");
#endif
} else if (data_changed(pair->send_buffer, backup_datagram,
datagram_offset, fmmu->data_size)) {
/* data changed on backup link: copy to main memory. */
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "backup changed\n");
#endif
memcpy(main_datagram->data + datagram_offset,
backup_datagram->data + datagram_offset,
fmmu->data_size);
} else if (datagram_pair_wc == pair->expected_working_counter) {
/* no change, but WC complete: use main data. */
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "no change but complete\n");
#endif
} else {
/* no change and WC incomplete: mark WC as zero to avoid
* data.dependent WC flickering. */
datagram_pair_wc = 0;
/* Redundancy: Go through FMMU configs to detect data changes. */
list_for_each_entry_from(fmmu, &domain->fmmu_configs, list) {
unsigned int datagram_offset;
ec_datagram_t *backup_datagram =
&pair->datagrams[EC_DEVICE_BACKUP];
if (fmmu->dir != EC_DIR_INPUT) {
continue;
}
if (fmmu->logical_start_address >=
logical_datagram_address + datagram_size) {
// fmmu data contained in next datagram pair
break;
}
datagram_offset =
fmmu->logical_start_address - logical_datagram_address;
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1,
"no change and incomplete\n");
"input fmmu log=%u size=%u offset=%u\n",
fmmu->logical_start_address, fmmu->data_size,
datagram_offset);
if (domain->master->debug_level > 0) {
ec_print_data(pair->send_buffer + datagram_offset,
fmmu->data_size);
ec_print_data(main_datagram->data + datagram_offset,
fmmu->data_size);
ec_print_data(backup_datagram->data + datagram_offset,
fmmu->data_size);
}
#endif
datagram_pair_wc = ec_datagram_pair_process(pair, wc_sum);
if (data_changed(pair->send_buffer, main_datagram,
datagram_offset, fmmu->data_size)) {
/* data changed on main link: no copying necessary. */
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "main changed\n");
#endif
} else if (data_changed(pair->send_buffer, backup_datagram,
datagram_offset, fmmu->data_size)) {
/* data changed on backup link: copy to main memory. */
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "backup changed\n");
#endif
memcpy(main_datagram->data + datagram_offset,
backup_datagram->data + datagram_offset,
fmmu->data_size);
} else if (datagram_pair_wc ==
pair->expected_working_counter) {
/* no change, but WC complete: use main data. */
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1,
"no change but complete\n");
#endif
} else {
/* no change and WC incomplete: mark WC as zero to avoid
* data.dependent WC flickering. */
datagram_pair_wc = 0;
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1,
"no change and incomplete\n");
#endif
}
}
}
#endif // EC_MAX_NUM_DEVICES > 1
}
#endif // EC_MAX_NUM_DEVICES > 1
redundant_wc = 0;
for (dev_idx = EC_DEVICE_BACKUP;