author | Florian Pose <fp@igh-essen.com> |
Thu, 20 Sep 2007 09:12:27 +0000 | |
changeset 742 | 03d2fe3d4a93 |
parent 719 | 03d5b96632fb |
child 782 | 9964e7be79ce |
permissions | -rw-r--r-- |
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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_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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|
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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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|
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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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141 |
|
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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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|
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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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151 |
|
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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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155 |
} |
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156 |
|
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157 |
/*****************************************************************************/ |
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158 |
|
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159 |
/** |
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160 |
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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164 |
|
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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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|
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domain = container_of(kobj, ec_domain_t, kobj); |
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|
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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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|
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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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|
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/** |
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* Registers a PDO entry. |
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* \return 0 in case of success, else < 0 |
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*/ |
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|
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int ec_domain_reg_pdo_entry( |
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ec_domain_t *domain, /**< EtherCAT domain */ |
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ec_sync_t *sync, /**< sync manager */ |
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const ec_pdo_entry_t *entry, /**< PDO entry to register */ |
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void **data_ptr /**< pointer to the process data 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_pdo_t *other_pdo; |
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const ec_pdo_entry_t *other_entry; |
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unsigned int bit_offset, byte_offset; |
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|
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// Calculate offset (in sync manager) for process data pointer |
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bit_offset = 0; |
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byte_offset = 0; |
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list_for_each_entry(other_pdo, &sync->pdos, list) { |
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list_for_each_entry(other_entry, &other_pdo->entries, list) { |
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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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|
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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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|
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221 |
if (ec_slave_prepare_fmmu(sync->slave, domain, sync)) { |
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222 |
EC_ERR("FMMU configuration failed.\n"); |
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|
223 |
kfree(data_reg); |
73
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|
224 |
return -1; |
9f4ea66d89a3
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225 |
} |
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|
226 |
|
635
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Implemented alternative PDO mapping configuration interface.
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|
227 |
data_reg->slave = sync->slave; |
325
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|
228 |
data_reg->sync = sync; |
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|
229 |
data_reg->sync_offset = byte_offset; |
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|
230 |
data_reg->data_ptr = data_ptr; |
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|
231 |
list_add_tail(&data_reg->list, &domain->data_regs); |
446 | 232 |
|
73
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|
233 |
return 0; |
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|
234 |
} |
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|
235 |
|
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|
236 |
/*****************************************************************************/ |
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|
237 |
|
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|
238 |
/** |
339 | 239 |
Clears the list of the data registrations. |
195
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|
240 |
*/ |
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Translated all comments and documentation to english language.
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|
241 |
|
325
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|
242 |
void ec_domain_clear_data_regs(ec_domain_t *domain /**< EtherCAT domain */) |
7833cf70c4f2
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|
243 |
{ |
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|
244 |
ec_data_reg_t *data_reg, *next; |
7833cf70c4f2
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|
245 |
|
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|
246 |
list_for_each_entry_safe(data_reg, next, &domain->data_regs, list) { |
7833cf70c4f2
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|
247 |
list_del(&data_reg->list); |
7833cf70c4f2
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|
248 |
kfree(data_reg); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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|
249 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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|
250 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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changeset
|
251 |
|
f564d0929292
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|
252 |
/*****************************************************************************/ |
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|
253 |
|
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diff
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|
254 |
/** |
293
14aeb79aa992
Renamed command structure to datagram.
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|
255 |
Allocates a process data datagram and appends it to the list. |
195
674071846ee3
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|
256 |
\return 0 in case of success, else < 0 |
674071846ee3
Translated all comments and documentation to english language.
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|
257 |
*/ |
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Translated all comments and documentation to english language.
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|
258 |
|
293
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|
259 |
int ec_domain_add_datagram(ec_domain_t *domain, /**< EtherCAT domain */ |
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|
260 |
uint32_t offset, /**< logical offset */ |
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|
261 |
size_t data_size /**< size of the datagram data */ |
14aeb79aa992
Renamed command structure to datagram.
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changeset
|
262 |
) |
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|
263 |
{ |
14aeb79aa992
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|
264 |
ec_datagram_t *datagram; |
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|
265 |
|
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|
266 |
if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) { |
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|
267 |
EC_ERR("Failed to allocate domain datagram!\n"); |
144
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parents:
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|
268 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
269 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
270 |
|
293
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|
271 |
ec_datagram_init(datagram); |
719
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
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parents:
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diff
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|
272 |
snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE, |
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
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parents:
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diff
changeset
|
273 |
"domain%u-%u", domain->index, offset); |
293
14aeb79aa992
Renamed command structure to datagram.
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diff
changeset
|
274 |
|
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
275 |
if (ec_datagram_lrw(datagram, offset, data_size)) { |
14aeb79aa992
Renamed command structure to datagram.
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|
276 |
kfree(datagram); |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
277 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
278 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
138
diff
changeset
|
279 |
|
293
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
280 |
list_add_tail(&datagram->list, &domain->datagrams); |
144
fdc24bf62f80
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parents:
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diff
changeset
|
281 |
return 0; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
282 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
138
diff
changeset
|
283 |
|
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
284 |
/*****************************************************************************/ |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
285 |
|
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
138
diff
changeset
|
286 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
287 |
Creates a domain. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
288 |
Reserves domain memory, calculates the logical addresses of the |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
289 |
corresponding FMMUs and sets the process data pointer of the registered |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
290 |
process data. |
195
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Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
291 |
\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
|
292 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
293 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
294 |
int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */ |
275
ba51285d4ef6
Variable-sized data fields, BK1120.
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parents:
246
diff
changeset
|
295 |
uint32_t base_address /**< logical base address */ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
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diff
changeset
|
296 |
) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
297 |
{ |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
315
diff
changeset
|
298 |
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
|
299 |
ec_slave_t *slave; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
300 |
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
|
301 |
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
|
302 |
uint32_t pdo_off, pdo_off_datagram; |
708
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
640
diff
changeset
|
303 |
uint32_t datagram_offset, log_addr; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
304 |
size_t datagram_data_size, sync_size; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
305 |
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
|
306 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
307 |
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
|
308 |
|
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
309 |
// 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
|
310 |
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
|
311 |
datagram_offset = base_address; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
312 |
datagram_data_size = 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
313 |
datagram_count = 0; |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
314 |
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
|
315 |
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
|
316 |
fmmu = &slave->fmmus[j]; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
317 |
if (fmmu->domain == domain) { |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
318 |
fmmu->logical_start_address = base_address + domain->data_size; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
319 |
sync_size = ec_sync_size(fmmu->sync); |
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
320 |
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
|
321 |
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
|
322 |
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
|
323 |
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
|
324 |
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
|
325 |
datagram_data_size = 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
326 |
datagram_count++; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
327 |
} |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
328 |
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
|
329 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
330 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
331 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
332 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
333 |
// allocate last datagram |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
334 |
if (datagram_data_size) { |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
335 |
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
|
336 |
datagram_data_size)) |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
337 |
return -1; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
338 |
datagram_count++; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
339 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
340 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
341 |
if (!datagram_count) { |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
342 |
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
|
343 |
ec_domain_clear_data_regs(domain); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
97
diff
changeset
|
344 |
return 0; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
345 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
346 |
|
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
347 |
// 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
|
348 |
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
|
349 |
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
|
350 |
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
|
351 |
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
|
352 |
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
|
353 |
// search datagram |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
354 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
708
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
640
diff
changeset
|
355 |
log_addr = EC_READ_U32(datagram->address); |
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
640
diff
changeset
|
356 |
pdo_off_datagram = pdo_off - log_addr; |
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
640
diff
changeset
|
357 |
if (pdo_off >= log_addr && |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
358 |
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
|
359 |
*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
|
360 |
pdo_off_datagram; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
361 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
362 |
} |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
363 |
if (!data_reg->data_ptr) { |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
364 |
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
|
365 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
366 |
} |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
367 |
break; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
368 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
369 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
370 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
371 |
|
377
ecac8252f114
Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents:
363
diff
changeset
|
372 |
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
|
373 |
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
|
374 |
datagram_count == 1 ? "" : "s"); |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
375 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
376 |
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
|
377 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
378 |
return 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
379 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
380 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
381 |
/*****************************************************************************/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
382 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
383 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
384 |
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
|
385 |
\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
|
386 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
387 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
388 |
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
|
389 |
struct attribute *attr, /**< attribute */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
390 |
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
|
391 |
) |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
166
diff
changeset
|
392 |
{ |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
166
diff
changeset
|
393 |
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
|
394 |
|
315 | 395 |
if (attr == &attr_image_size) { |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
166
diff
changeset
|
396 |
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
|
397 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
166
diff
changeset
|
398 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
166
diff
changeset
|
399 |
return 0; |
97
e6264685dd7b
Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents:
96
diff
changeset
|
400 |
} |
e6264685dd7b
Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents:
96
diff
changeset
|
401 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
402 |
/****************************************************************************** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
403 |
* Realtime interface |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
404 |
*****************************************************************************/ |
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 |
/** |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
407 |
* Registers a PDO for a domain. |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
408 |
* \return 0 on success, else non-zero |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
409 |
* \ingroup RealtimeInterface |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
410 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
411 |
|
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
412 |
int ecrt_domain_register_pdo( |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
413 |
ec_domain_t *domain, /**< EtherCAT domain */ |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
414 |
ec_slave_t *slave, /**< EtherCAT slave */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
415 |
uint16_t pdo_entry_index, /**< PDO entry index */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
416 |
uint8_t pdo_entry_subindex, /**< PDO entry subindex */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
417 |
void **data_ptr /**< address of the process data pointer */ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
418 |
) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
419 |
{ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
420 |
ec_sync_t *sync; |
625
ec69acbbd156
Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents:
619
diff
changeset
|
421 |
const ec_pdo_t *pdo; |
ec69acbbd156
Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents:
619
diff
changeset
|
422 |
const ec_pdo_entry_t *entry; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
423 |
unsigned int i; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
424 |
|
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
425 |
// search for PDO entry |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
426 |
for (i = 0; i < slave->sii_sync_count; i++) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
427 |
sync = &slave->sii_syncs[i]; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
428 |
list_for_each_entry(pdo, &sync->pdos, list) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
429 |
list_for_each_entry(entry, &pdo->entries, list) { |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
430 |
if (entry->index != pdo_entry_index || |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
431 |
entry->subindex != pdo_entry_subindex) continue; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
432 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
433 |
// PDO entry found |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
434 |
if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) { |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
435 |
return -1; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
436 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
437 |
|
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
438 |
return 0; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
439 |
} |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
440 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
441 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
442 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
443 |
EC_ERR("PDO entry 0x%04X:%u is not mapped in slave %u.\n", |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
444 |
pdo_entry_index, pdo_entry_subindex, slave->ring_position); |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
445 |
return -1; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
446 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
447 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
448 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
449 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
450 |
/** |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
451 |
* Registers a bunch of data fields. |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
452 |
* \attention The list has to be terminated with a NULL structure ({})! |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
453 |
* \return 0 in case of success, else < 0 |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
454 |
* \ingroup RealtimeInterface |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
455 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
456 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
457 |
int ecrt_domain_register_pdo_list( |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
458 |
ec_domain_t *domain, /**< EtherCAT domain */ |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
459 |
const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
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 |
{ |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
462 |
const ec_pdo_reg_t *reg; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
463 |
ec_slave_t *slave; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
464 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
465 |
for (reg = pdo_regs; reg->slave_address; reg++) { |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
466 |
if (!(slave = ecrt_master_get_slave(domain->master, |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
467 |
reg->slave_address, reg->vendor_id, |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
468 |
reg->product_code))) |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
97
diff
changeset
|
469 |
return -1; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
470 |
|
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
471 |
if (ecrt_domain_register_pdo(domain, slave, reg->pdo_entry_index, |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
472 |
reg->pdo_entry_subindex, reg->data_ptr)) |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
473 |
return -1; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
474 |
} |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
475 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
97
diff
changeset
|
476 |
return 0; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
477 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
478 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
479 |
/*****************************************************************************/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
480 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
481 |
/** |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
482 |
* Registers a PDO range in a domain. |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
483 |
* \return 0 on success, else non-zero |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
484 |
* \ingroup RealtimeInterface |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
485 |
*/ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
486 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
487 |
int ecrt_domain_register_pdo_range( |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
488 |
ec_domain_t *domain, /**< EtherCAT domain */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
489 |
ec_slave_t *slave, /**< EtherCAT slave */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
490 |
ec_direction_t dir, /**< data direction */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
491 |
uint16_t offset, /**< offset in slave's PDO range */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
492 |
uint16_t length, /**< length of this range */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
493 |
void **data_ptr /**< address of the process data pointer */ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
494 |
) |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
495 |
{ |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
496 |
ec_data_reg_t *data_reg; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
497 |
ec_sync_t *sync; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
498 |
uint16_t sync_length; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
499 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
500 |
if (!(sync = ec_slave_get_pdo_sync(slave, dir))) { |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
501 |
EC_ERR("No sync manager found for PDO range.\n"); |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
502 |
return -1; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
503 |
} |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
504 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
505 |
// Allocate memory for data registration object |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
506 |
if (!(data_reg = |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
507 |
(ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) { |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
508 |
EC_ERR("Failed to allocate data registration.\n"); |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
509 |
return -1; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
510 |
} |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
511 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
512 |
if (ec_slave_prepare_fmmu(slave, domain, sync)) { |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
513 |
EC_ERR("FMMU configuration failed.\n"); |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
514 |
kfree(data_reg); |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
515 |
return -1; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
516 |
} |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
517 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
518 |
data_reg->slave = slave; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
519 |
data_reg->sync = sync; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
520 |
data_reg->sync_offset = offset; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
521 |
data_reg->data_ptr = data_ptr; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
522 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
523 |
// estimate sync manager length |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
524 |
sync_length = offset + length; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
525 |
if (sync->est_length < sync_length) { |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
526 |
sync->est_length = sync_length; |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
527 |
if (domain->master->debug_level) { |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
528 |
EC_DBG("Estimating length of sync manager %i of slave %i to %i.\n", |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
529 |
sync->index, slave->ring_position, sync_length); |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
530 |
} |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
531 |
} |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
532 |
|
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
533 |
list_add_tail(&data_reg->list, &domain->data_regs); |
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
534 |
return 0; |
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
535 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
536 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
537 |
/*****************************************************************************/ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
538 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
539 |
/** |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
540 |
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
|
541 |
\ingroup RealtimeInterface |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
542 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
543 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
544 |
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
|
545 |
{ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
546 |
unsigned int working_counter_sum; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
547 |
ec_datagram_t *datagram; |
98
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|
548 |
|
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|
549 |
working_counter_sum = 0; |
363
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
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diff
changeset
|
550 |
domain->state = 0; |
293
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|
551 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
719
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
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diff
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|
552 |
ec_datagram_output_stats(datagram); |
325
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|
553 |
if (datagram->state == EC_DATAGRAM_RECEIVED) { |
293
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|
554 |
working_counter_sum += datagram->working_counter; |
98
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|
555 |
} |
363
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changeset
|
556 |
else { |
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diff
changeset
|
557 |
domain->state = -1; |
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
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diff
changeset
|
558 |
} |
98
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|
559 |
} |
73
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diff
changeset
|
560 |
|
325
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changeset
|
561 |
if (working_counter_sum != domain->response_count) { |
332
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changeset
|
562 |
domain->working_counter_changes++; |
325
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|
563 |
domain->response_count = working_counter_sum; |
332
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diff
changeset
|
564 |
} |
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diff
changeset
|
565 |
|
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changeset
|
566 |
if (domain->working_counter_changes && |
344
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Replaced longer cycle timestamps with jiffies.
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|
567 |
jiffies - domain->notify_jiffies > HZ) { |
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Replaced longer cycle timestamps with jiffies.
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diff
changeset
|
568 |
domain->notify_jiffies = jiffies; |
332
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parents:
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diff
changeset
|
569 |
if (domain->working_counter_changes == 1) { |
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diff
changeset
|
570 |
EC_INFO("Domain %i working counter change: %i\n", domain->index, |
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diff
changeset
|
571 |
domain->response_count); |
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parents:
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diff
changeset
|
572 |
} |
e16093374dfd
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parents:
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diff
changeset
|
573 |
else { |
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parents:
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diff
changeset
|
574 |
EC_INFO("Domain %i: %u WC changes. Current response count: %i\n", |
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diff
changeset
|
575 |
domain->index, domain->working_counter_changes, |
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parents:
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diff
changeset
|
576 |
domain->response_count); |
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parents:
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diff
changeset
|
577 |
} |
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parents:
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diff
changeset
|
578 |
domain->working_counter_changes = 0; |
325
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parents:
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diff
changeset
|
579 |
} |
494
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
580 |
} |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
484
diff
changeset
|
581 |
|
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Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
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diff
changeset
|
582 |
/*****************************************************************************/ |
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Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
484
diff
changeset
|
583 |
|
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
484
diff
changeset
|
584 |
/** |
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Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
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diff
changeset
|
585 |
Places all process data datagrams in the masters datagram queue. |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
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diff
changeset
|
586 |
\ingroup RealtimeInterface |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
484
diff
changeset
|
587 |
*/ |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
588 |
|
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
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parents:
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diff
changeset
|
589 |
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
|
590 |
{ |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
591 |
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
|
592 |
|
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
593 |
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
|
594 |
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
|
595 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
596 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
597 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
598 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
599 |
|
105
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
600 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
601 |
Returns the state of a domain. |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
602 |
\return 0 if all datagrams were received, else -1. |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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parents:
197
diff
changeset
|
603 |
\ingroup RealtimeInterface |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
604 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
605 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
315
diff
changeset
|
606 |
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
|
607 |
{ |
363
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents:
353
diff
changeset
|
608 |
return domain->state; |
105
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
609 |
} |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
610 |
|
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
611 |
/*****************************************************************************/ |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
612 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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parents:
197
diff
changeset
|
613 |
/** \cond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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parents:
197
diff
changeset
|
614 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
615 |
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
|
616 |
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
|
617 |
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
|
618 |
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
|
619 |
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
|
620 |
EXPORT_SYMBOL(ecrt_domain_state); |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
621 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
622 |
/** \endcond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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parents:
197
diff
changeset
|
623 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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parents:
197
diff
changeset
|
624 |
/*****************************************************************************/ |