master/domain.c
author Florian Pose <fp@igh-essen.com>
Sun, 04 Mar 2007 16:15:23 +0000
changeset 608 029d70ceaaf1
parent 495 88c597598bbc
child 609 611d738a1392
permissions -rw-r--r--
Updated TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT domain methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "globals.h"
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#include "domain.h"
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#include "master.h"
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/*****************************************************************************/
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/**
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   Data registration type.
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*/
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typedef struct
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{
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    struct list_head list; /**< list item */
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    ec_slave_t *slave; /**< slave */
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    const ec_sii_sync_t *sync; /**< sync manager */
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    off_t sync_offset; /**< pdo offset */
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    void **data_ptr; /**< pointer to process data pointer(s) */
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}
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ec_data_reg_t;
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/*****************************************************************************/
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void ec_domain_clear(struct kobject *);
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void ec_domain_clear_data_regs(ec_domain_t *);
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ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(image_size);
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static struct attribute *def_attrs[] = {
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    &attr_image_size,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = &ec_show_domain_attribute,
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    .store = NULL
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};
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static struct kobj_type ktype_ec_domain = {
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    .release = ec_domain_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Domain constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */
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                   ec_master_t *master, /**< owning master */
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                   unsigned int index /**< domain index */
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                   )
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{
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    domain->master = master;
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    domain->index = index;
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    domain->data_size = 0;
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    domain->base_address = 0;
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    domain->response_count = 0xFFFFFFFF;
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    domain->notify_jiffies = 0;
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    domain->working_counter_changes = 0;
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    INIT_LIST_HEAD(&domain->data_regs);
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    INIT_LIST_HEAD(&domain->datagrams);
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    // init kobject and add it to the hierarchy
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    memset(&domain->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&domain->kobj);
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    domain->kobj.ktype = &ktype_ec_domain;
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    domain->kobj.parent = &master->kobj;
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    if (kobject_set_name(&domain->kobj, "domain%i", index)) {
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        EC_ERR("Failed to set kobj name.\n");
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        kobject_put(&domain->kobj);
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        return -1;
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    }
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    if (kobject_add(&domain->kobj)) {
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        EC_ERR("Failed to add domain kobject.\n");
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        kobject_put(&domain->kobj);
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Domain destructor.
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   Clears and frees a domain object.
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*/
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void ec_domain_destroy(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_datagram_t *datagram;
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    // dequeue datagrams
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    list_for_each_entry(datagram, &domain->datagrams, list) {
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        if (!list_empty(&datagram->queue)) // datagram queued?
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            list_del_init(&datagram->queue);
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    }
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    // destroy self
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    kobject_del(&domain->kobj);
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    kobject_put(&domain->kobj);
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}
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/*****************************************************************************/
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/**
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   Clear and free domain.
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   This method is called by the kobject,
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   once there are no more references to it.
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*/
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void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
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{
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    ec_datagram_t *datagram, *next;
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    ec_domain_t *domain;
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    domain = container_of(kobj, ec_domain_t, kobj);
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    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
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        ec_datagram_clear(datagram);
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        kfree(datagram);
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    }
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    ec_domain_clear_data_regs(domain);
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    kfree(domain);
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}
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/*****************************************************************************/
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/**
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   Registeres a PDO entry.
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   \return 0 in case of success, else < 0
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*/
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int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
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                            ec_slave_t *slave, /**< slave */
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                            const ec_sii_pdo_t *pdo, /**< PDO */
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                            const ec_sii_pdo_entry_t *entry,
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                            /**< PDO registration entry */
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                            void **data_ptr /**< pointer to the process data
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                                               pointer */
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                            )
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{
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    ec_data_reg_t *data_reg;
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    const ec_sii_sync_t *sync;
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    const ec_sii_pdo_t *other_pdo;
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    const ec_sii_pdo_entry_t *other_entry;
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    unsigned int bit_offset, byte_offset, sync_found;
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    // Find sync manager for PDO
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    sync_found = 0;
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    list_for_each_entry(sync, &slave->sii_syncs, list) {
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        if (sync->index == pdo->sync_index) {
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            sync_found = 1;
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            break;
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        }
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    }
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    if (!sync_found) {
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        EC_ERR("No sync manager for PDO 0x%04X:%i.",
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               pdo->index, entry->subindex);
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        return -1;
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    }
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416
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    // Calculate offset (in sync manager) for process data pointer
325
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    bit_offset = 0;
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    byte_offset = 0;
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    list_for_each_entry(other_pdo, &slave->sii_pdos, list) {
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        if (other_pdo->sync_index != sync->index) continue;
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   224
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        list_for_each_entry(other_entry, &other_pdo->entries, list) {
325
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            if (other_entry == entry) {
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                byte_offset = bit_offset / 8;
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                break;
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            }
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            bit_offset += other_entry->bit_length;
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        }
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    }
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    // Allocate memory for data registration object
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    if (!(data_reg =
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          (ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate data registration.\n");
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        return -1;
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    }
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160
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    if (ec_slave_prepare_fmmu(slave, domain, sync)) {
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        EC_ERR("FMMU configuration failed.\n");
325
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        kfree(data_reg);
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        return -1;
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    }
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325
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    data_reg->slave = slave;
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    data_reg->sync = sync;
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    data_reg->sync_offset = byte_offset;
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    data_reg->data_ptr = data_ptr;
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    list_add_tail(&data_reg->list, &domain->data_regs);
446
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    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
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73
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    return 0;
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}
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/*****************************************************************************/
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/**
416
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   Registeres a PDO range.
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   \return 0 in case of success, else < 0
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*/
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int ec_domain_reg_pdo_range(ec_domain_t *domain, /**< EtherCAT domain */
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                            ec_slave_t *slave, /**< slave */
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                            ec_direction_t dir, /**< data direction */
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                            uint16_t offset, /**< offset */
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                            uint16_t length, /**< length */
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                            void **data_ptr /**< pointer to the process data
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                                               pointer */
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                            )
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{
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    ec_data_reg_t *data_reg;
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    ec_sii_sync_t *sync;
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    unsigned int sync_found, sync_index;
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    uint16_t sync_length;
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    switch (dir) {
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        case EC_DIR_OUTPUT: sync_index = 2; break;
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        case EC_DIR_INPUT:  sync_index = 3; break;
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        default:
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            EC_ERR("Invalid direction!\n");
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            return -1;
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    }
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    // Find sync manager
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    sync_found = 0;
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    list_for_each_entry(sync, &slave->sii_syncs, list) {
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        if (sync->index == sync_index) {
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            sync_found = 1;
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            break;
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        }
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    }
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    if (!sync_found) {
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        EC_ERR("No sync manager found for PDO range.\n");
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        return -1;
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    }
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     // Allocate memory for data registration object
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    if (!(data_reg =
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          (ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate data registration.\n");
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        return -1;
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    }
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    if (ec_slave_prepare_fmmu(slave, domain, sync)) {
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        EC_ERR("FMMU configuration failed.\n");
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        kfree(data_reg);
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        return -1;
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    }
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    data_reg->slave = slave;
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    data_reg->sync = sync;
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    data_reg->sync_offset = offset;
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    data_reg->data_ptr = data_ptr;
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    // estimate sync manager length
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    sync_length = offset + length;
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    if (sync->est_length < sync_length) {
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        sync->est_length = sync_length;
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        if (domain->master->debug_level) {
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            EC_DBG("Estimating length of sync manager %i of slave %i to %i.\n",
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                   sync->index, slave->ring_position, sync_length);
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        }
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   328
    }
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    list_add_tail(&data_reg->list, &domain->data_regs);
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    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
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   333
416
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   334
    return 0;
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   335
}
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/*****************************************************************************/
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   339
/**
339
a3a4ee854bd8 Minor changes.
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   340
   Clears the list of the data registrations.
195
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   341
*/
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325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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void ec_domain_clear_data_regs(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_data_reg_t *data_reg, *next;
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    list_for_each_entry_safe(data_reg, next, &domain->data_regs, list) {
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   348
        list_del(&data_reg->list);
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        kfree(data_reg);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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   350
    }
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   351
}
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   352
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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   353
/*****************************************************************************/
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   354
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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   355
/**
293
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   356
   Allocates a process data datagram and appends it to the list.
195
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   357
   \return 0 in case of success, else < 0
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   358
*/
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   359
293
14aeb79aa992 Renamed command structure to datagram.
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   360
int ec_domain_add_datagram(ec_domain_t *domain, /**< EtherCAT domain */
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   361
                           uint32_t offset, /**< logical offset */
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diff changeset
   362
                           size_t data_size /**< size of the datagram data */
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diff changeset
   363
                           )
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diff changeset
   364
{
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   365
    ec_datagram_t *datagram;
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   366
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   367
    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
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diff changeset
   368
        EC_ERR("Failed to allocate domain datagram!\n");
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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   369
        return -1;
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diff changeset
   370
    }
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   371
293
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   372
    ec_datagram_init(datagram);
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   373
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   374
    if (ec_datagram_lrw(datagram, offset, data_size)) {
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   375
        kfree(datagram);
144
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diff changeset
   376
        return -1;
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diff changeset
   377
    }
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diff changeset
   378
293
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diff changeset
   379
    list_add_tail(&datagram->list, &domain->datagrams);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   380
    return 0;
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diff changeset
   381
}
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   382
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diff changeset
   383
/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   384
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   385
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   386
   Creates a domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   387
   Reserves domain memory, calculates the logical addresses of the
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   388
   corresponding FMMUs and sets the process data pointer of the registered
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   389
   process data.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   390
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   391
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   392
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   393
int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   394
                    uint32_t base_address /**< logical base address */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   395
                    )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   396
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   397
    ec_data_reg_t *data_reg;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   398
    ec_slave_t *slave;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   399
    ec_fmmu_t *fmmu;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   400
    unsigned int i, j, datagram_count;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   401
    uint32_t pdo_off, pdo_off_datagram;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   402
    uint32_t datagram_offset;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   403
    size_t datagram_data_size, sync_size;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   404
    ec_datagram_t *datagram;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   405
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   406
    domain->base_address = base_address;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   407
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   408
    // calculate size of process data and allocate memory
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   409
    domain->data_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   410
    datagram_offset = base_address;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   411
    datagram_data_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   412
    datagram_count = 0;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   413
    list_for_each_entry(slave, &domain->master->slaves, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   414
        for (j = 0; j < slave->fmmu_count; j++) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   415
            fmmu = &slave->fmmus[j];
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   416
            if (fmmu->domain == domain) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   417
                fmmu->logical_start_address = base_address + domain->data_size;
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   418
                sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   419
                domain->data_size += sync_size;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   420
                if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   421
                    if (ec_domain_add_datagram(domain, datagram_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   422
                                               datagram_data_size)) return -1;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   423
                    datagram_offset += datagram_data_size;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   424
                    datagram_data_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   425
                    datagram_count++;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   426
                }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   427
                datagram_data_size += sync_size;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   428
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   429
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   430
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   431
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   432
    // allocate last datagram
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   433
    if (datagram_data_size) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   434
        if (ec_domain_add_datagram(domain, datagram_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   435
                                   datagram_data_size))
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   436
            return -1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   437
        datagram_count++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   438
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   439
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   440
    if (!datagram_count) {
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   441
        EC_WARN("Domain %i contains no data!\n", domain->index);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   442
        ec_domain_clear_data_regs(domain);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   443
        return 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   444
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   445
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   446
    // set all process data pointers
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   447
    list_for_each_entry(data_reg, &domain->data_regs, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   448
        for (i = 0; i < data_reg->slave->fmmu_count; i++) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   449
            fmmu = &data_reg->slave->fmmus[i];
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   450
            if (fmmu->domain == domain && fmmu->sync == data_reg->sync) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   451
                pdo_off = fmmu->logical_start_address + data_reg->sync_offset;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   452
                // search datagram
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   453
                list_for_each_entry(datagram, &domain->datagrams, list) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   454
                    pdo_off_datagram = pdo_off - datagram->address.logical;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   455
                    if (pdo_off >= datagram->address.logical &&
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   456
                        pdo_off_datagram < datagram->mem_size) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   457
                        *data_reg->data_ptr = datagram->data +
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   458
                            pdo_off_datagram;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   459
                    }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   460
                }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   461
                if (!data_reg->data_ptr) {
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   462
                    EC_ERR("Failed to assign data pointer!\n");
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   463
                    return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   464
                }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   465
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   466
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   467
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   468
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   469
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 363
diff changeset
   470
    EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s.\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   471
            domain->index, domain->data_size, datagram_count,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   472
            datagram_count == 1 ? "" : "s");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   473
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   474
    ec_domain_clear_data_regs(domain);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   475
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   476
    return 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   477
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   478
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   479
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   480
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   481
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   482
   Formats attribute data for SysFS reading.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   483
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   484
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   485
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   486
ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   487
                                 struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   488
                                 char *buffer /**< memory to store data in */
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   489
                                 )
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   490
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   491
    ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   492
315
119f967aead8 Renamed Sysfs attributes.
Florian Pose <fp@igh-essen.com>
parents: 294
diff changeset
   493
    if (attr == &attr_image_size) {
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   494
        return sprintf(buffer, "%i\n", domain->data_size);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   495
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   496
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   497
    return 0;
97
e6264685dd7b Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents: 96
diff changeset
   498
}
e6264685dd7b Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents: 96
diff changeset
   499
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   500
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   501
 *  Realtime interface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   502
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   503
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   504
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   505
   Registers a PDO in a domain.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   506
   \return pointer to the slave on success, else NULL
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   507
   \ingroup RealtimeInterface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   508
*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   509
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   510
ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   511
                                     /**< EtherCAT domain */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   512
                                     const char *address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   513
                                     /**< ASCII address of the slave,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   514
                                        see ecrt_master_get_slave() */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   515
                                     uint32_t vendor_id,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   516
                                     /**< vendor ID */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   517
                                     uint32_t product_code,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   518
                                     /**< product code */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   519
                                     uint16_t pdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   520
                                     /**< PDO index */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   521
                                     uint8_t pdo_subindex,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   522
                                     /**< PDO subindex */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   523
                                     void **data_ptr
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   524
                                     /**< address of the process data
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   525
                                        pointer */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   526
                                     )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   527
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   528
    ec_slave_t *slave;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   529
    ec_master_t *master;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   530
    const ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   531
    const ec_sii_pdo_entry_t *entry;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   532
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   533
    master = domain->master;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   534
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 404
diff changeset
   535
    // translate address and validate slave
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   536
    if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 404
diff changeset
   537
    if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   538
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   539
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   540
        list_for_each_entry(entry, &pdo->entries, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   541
            if (entry->index != pdo_index
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   542
                || entry->subindex != pdo_subindex) continue;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   543
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 416
diff changeset
   544
            if (ec_domain_reg_pdo_entry(domain, slave, pdo, entry, data_ptr)) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 416
diff changeset
   545
                return NULL;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   546
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   547
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   548
            return slave;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   549
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   550
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   551
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   552
    EC_ERR("Slave %i does not provide PDO 0x%04X:%i.\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   553
           slave->ring_position, pdo_index, pdo_subindex);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   554
    return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   555
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   556
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   557
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   558
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   559
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   560
   Registeres a bunch of data fields.
495
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 494
diff changeset
   561
   \attention The list has to be terminated with a NULL structure ({})!
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   562
   \return 0 in case of success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   563
   \ingroup RealtimeInterface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   564
*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   565
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   566
int ecrt_domain_register_pdo_list(ec_domain_t *domain,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   567
                                  /**< EtherCAT domain */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   568
                                  const ec_pdo_reg_t *pdos
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   569
                                  /**< array of PDO registrations */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   570
                                  )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   571
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   572
    const ec_pdo_reg_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   573
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   574
    for (pdo = pdos; pdo->slave_address; pdo++)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   575
        if (!ecrt_domain_register_pdo(domain, pdo->slave_address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   576
                                      pdo->vendor_id,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   577
                                      pdo->product_code,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   578
                                      pdo->pdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   579
                                      pdo->pdo_subindex,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   580
                                      pdo->data_ptr))
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   581
            return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   582
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   583
    return 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   584
}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   585
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   586
/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   587
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   588
/**
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   589
   Registers a PDO range in a domain.
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   590
   \return pointer to the slave on success, else NULL
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   591
   \ingroup RealtimeInterface
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   592
*/
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   593
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   594
ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   595
                                           /**< EtherCAT domain */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   596
                                           const char *address,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   597
                                           /**< ASCII address of the slave,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   598
                                              see ecrt_master_get_slave() */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   599
                                           uint32_t vendor_id,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   600
                                           /**< vendor ID */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   601
                                           uint32_t product_code,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   602
                                           /**< product code */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   603
                                           ec_direction_t direction,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   604
                                           /**< data direction */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   605
                                           uint16_t offset,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   606
                                           /**< offset in slave's PDO range */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   607
                                           uint16_t length,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   608
                                           /**< length of this range */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   609
                                           void **data_ptr
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   610
                                           /**< address of the process data
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   611
                                              pointer */
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   612
                                           )
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   613
{
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   614
    ec_slave_t *slave;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   615
    ec_master_t *master;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   616
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   617
    master = domain->master;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   618
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   619
    // translate address and validate slave
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   620
    if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   621
    if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   622
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   623
    if (ec_domain_reg_pdo_range(domain, slave,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   624
                                direction, offset, length, data_ptr)) {
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   625
        return NULL;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   626
    }
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   627
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   628
    return slave;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   629
}
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   630
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   631
/*****************************************************************************/
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   632
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   633
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   634
   Processes received process data and requeues the domain datagram(s).
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   635
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   636
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   637
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   638
void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   639
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   640
    unsigned int working_counter_sum;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   641
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   642
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   643
    working_counter_sum = 0;
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   644
    domain->state = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   645
    list_for_each_entry(datagram, &domain->datagrams, list) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   646
        if (datagram->state == EC_DATAGRAM_RECEIVED) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   647
            working_counter_sum += datagram->working_counter;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   648
        }
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   649
        else {
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   650
            domain->state = -1;
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   651
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   652
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   653
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   654
    if (working_counter_sum != domain->response_count) {
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   655
        domain->working_counter_changes++;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   656
        domain->response_count = working_counter_sum;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   657
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   658
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   659
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   660
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   661
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   662
        if (domain->working_counter_changes == 1) {
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   663
            EC_INFO("Domain %i working counter change: %i\n", domain->index,
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   664
                    domain->response_count);
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   665
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   666
        else {
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   667
            EC_INFO("Domain %i: %u WC changes. Current response count: %i\n",
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   668
                    domain->index, domain->working_counter_changes,
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   669
                    domain->response_count);
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   670
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   671
        domain->working_counter_changes = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   672
    }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   673
}
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   674
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   675
/*****************************************************************************/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   676
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   677
/**
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   678
   Places all process data datagrams in the masters datagram queue.
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   679
   \ingroup RealtimeInterface
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   680
*/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   681
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   682
void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   683
{
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   684
    ec_datagram_t *datagram;
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   685
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   686
    list_for_each_entry(datagram, &domain->datagrams, list) {
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   687
        ec_master_queue_datagram(domain->master, datagram);
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   688
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   689
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   690
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   691
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   692
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   693
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   694
   Returns the state of a domain.
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   695
   \return 0 if all datagrams were received, else -1.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   696
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   697
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   698
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   699
int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   700
{
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   701
    return domain->state;
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   702
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   703
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   704
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   705
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   706
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   707
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   708
EXPORT_SYMBOL(ecrt_domain_register_pdo);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   709
EXPORT_SYMBOL(ecrt_domain_register_pdo_list);
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   710
EXPORT_SYMBOL(ecrt_domain_register_pdo_range);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   711
EXPORT_SYMBOL(ecrt_domain_process);
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   712
EXPORT_SYMBOL(ecrt_domain_queue);
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   713
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   715
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   716
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   717
/*****************************************************************************/