4 * @brief global data used from different modules in frescan
15 * In order to simplify we have a single module, frescan_data, to store the
16 * main internal structures and global data of the FRESCAN protocol.
20 * See MaRTE OS license
24 #ifndef _MARTE_FRESCAN_DATA_H_
25 #define _MARTE_FRESCAN_DATA_H_
27 #include <stdint.h> // uint32_t
28 #include <semaphore.h> // sem_t
29 #include <time.h> // struct timespec, timer_t
30 #include <pthread.h> // pthread_t
32 #include <misc/linux_list.h> // struct list_head
33 #include <misc/freelist.h> // freelist_t
35 #include <drivers/frescan.h> // frescan_node_t, _prio_t, _budget_t
36 #include "frescan_config.h" // FRESCAN_MLOCK_T, FRESCAN_MX_XXX
37 #include "frescan_packets.h" // frescan_packet_t
38 #include "frescan_servers_replenishments.h" // frescan_repl_op_t
41 * frescan_repl_op_t - a replenishment operation
43 * @when: when the replenishment operation is programmed at
44 * @amount: number of frames to add to the current_budget
45 * @repl_list: to chain the replenishments for a certain sporadic server
46 * @pool_pos: to know how to free it from the replenishment pool
51 frescan_budget_t amount;
52 struct list_head repl_list;
57 * frescan_server_params_t - server parameters
59 * @budget: the budget in CAN 8-byte frames
60 * @period: the replenishment period for the server
61 * @prio: the priority for the server TODO: this should be a return value
65 frescan_budget_t budget;
66 struct timespec period;
68 } frescan_server_params_t;
71 * frescan_server_data_t - server data
73 * @params: the fixed parameters (budget, period and priority)
74 * @current_budget: the current available capacity
75 * @current_priority: the current priority (0=background)
76 * @repl_list: the list of pending replenishment operations
77 * @repl_timer: the timer for the replenishments associated to this server
78 * NOTE: we could use a single timer for all but for now this is simpler
79 * @packet_list: the packets enqueued on this server
83 frescan_server_params_t params;
84 frescan_network_t net;
86 frescan_budget_t current_budget;
87 frescan_prio_t current_priority;
88 frescan_budget_t pending_packets;
89 frescan_repl_op_t replenishments;
91 frescan_packet_t packet_list;
92 struct list_head servers_list;
93 } frescan_server_data_t;
96 * the_servers_pool - pool of servers structure
99 extern frescan_server_data_t the_servers_pool[FRESCAN_MX_NETWORKS][FRESCAN_MX_IDS];
100 extern freelist_t the_servers_pool_freelist[FRESCAN_MX_NETWORKS];
101 extern frescan_server_data_t the_active_servers[FRESCAN_MX_NETWORKS];
104 * frescan_prio_queue_t - priority queue
106 * FRESCAN priority queues are implemented as an array of one 'fifo_queue' for
107 * each priority. Where the 'fifo_queues' are implemented using the
108 * 'struct list_head fifo_list;' field of each packet structure (Linux lists).
110 * So far mutual exclusion is achieved by disabling interrupts and
111 * synchronization is done using a semaphore. This is because the queues
112 * are accesed concurrently from user threads and the IRQ handler.
114 * @fifo_queues: an array of packets for each priority where each packet
115 * is just the head of a fifo_list. The array is allocated
116 * from the heap, using malloc, at initialization with range
118 * @max_prio: defines the number of priorities as (0 .. max_prio - 1)
119 * @sem: semaphore used for synchronization
123 frescan_packet_t *fifo_queues;
126 } frescan_prio_queue_t;
129 * frescan_queues_t - the set of FRESCAN queues for each instance of a protocol
131 * @tx_fp_queue: priority queue for the fixed priority packets
132 * @rx_channel_queues: a priority queue for each receiving channel
134 * TODO: add here the sporadic server queues...
138 frescan_prio_queue_t *tx_fp_queue;
139 frescan_prio_queue_t **rx_channel_queues;
140 uint32_t num_rx_channels;
144 * frescan_network_data_t - data for each network instance
146 * @local_node: the local node id for that network. The implementation does not
147 * support several interfaces for the same network.
148 * @fd: file descriptor associated to /dev/canXX
149 * @queues: the queues of this network instance
150 * @last_packet: pointer to the last packet from which a frame was inserted
151 * in the chip and its transmission is not complete.
152 * @last_packet_prio: prio of the packet in the buffer
153 * @id_queues: queues to store received packets while the whole message is
154 * not complete (fragmentation). (id = 0 .. FRESCAN_MX_IDS - 1)
155 * @id_fp_queues: the same as id_queues but for fp messages, which have
156 * id=FRESCAN_MX_IDS and are distinguised through their
159 * the implementation can handle several FRESCAN networks at the same time
160 * in the same node, so we need a place to store its internal data. The data
161 * is allocated as an array where the index is the MINOR number (which also
162 * identifies the /dev/canx device for that network)
166 FRESCAN_MLOCK_T lock;
167 frescan_node_t local_node;
169 pthread_t repl_thread_id;
170 frescan_queues_t queues;
171 frescan_packet_t *last_packet;
172 frescan_prio_t last_packet_prio;
173 frescan_packet_t *id_queues[FRESCAN_MX_IDS]; // TODO: alloc at init
174 frescan_packet_t *id_fp_queues[FRESCAN_MX_PRIOS]; // TODO: alloc at init
175 } frescan_network_data_t;
177 extern frescan_network_data_t the_networks[FRESCAN_MX_NETWORKS];
180 * frescan_data_init() - init the data global variables
184 extern int frescan_data_init(int fd, frescan_init_params_t *params);
188 #endif // _MARTE_FRESCAN_DATA_H_