1

/******************************************************************************

     2

 *

     3

 *  d o m a i n . c

     4

 *

     5

 *  Methoden für Gruppen von EtherCAT-Slaves.

     6

 *

     7

 *  $Id$

     8

 *

     9

 *****************************************************************************/

    10

    11

#include "globals.h"

    12

#include "domain.h"

    13

#include "master.h"

    14

    15

/*****************************************************************************/

    16

    17

void ec_domain_clear_field_regs(ec_domain_t *);

    18

ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);

    19

    20

/*****************************************************************************/

    21

    23

    24

static struct attribute *def_attrs[] = {

    25

    &attr_data_size,

    26

    NULL,

    27

};

    28

    29

static struct sysfs_ops sysfs_ops = {

    30

    .show = &ec_show_domain_attribute,

    31

    .store = NULL

    32

};

    33

    34

static struct kobj_type ktype_ec_domain = {

    35

    .release = ec_domain_clear,

    36

    .sysfs_ops = &sysfs_ops,

    37

    .default_attrs = def_attrs

    38

};

    39

    40

/*****************************************************************************/

    41

    42

/**

    43

   Konstruktor einer EtherCAT-Domäne.

    44

*/

    45

    46

int ec_domain_init(ec_domain_t *domain, /**< Domäne */

    47

                   ec_master_t *master, /**< Zugehöriger Master */

    48

                   unsigned int index /**< Domänen-Index */

    49

                   )

    50

{

    51

    domain->master = master;

    52

    domain->index = index;

    53

    domain->data_size = 0;

    54

    domain->base_address = 0;

    55

    domain->response_count = 0xFFFFFFFF;

    56

    57

    INIT_LIST_HEAD(&domain->field_regs);

    58

    INIT_LIST_HEAD(&domain->commands);

    59

    60

    // Init kobject and add it to the hierarchy

    61

    memset(&domain->kobj, 0x00, sizeof(struct kobject));

    62

    kobject_init(&domain->kobj);

    63

    domain->kobj.ktype = &ktype_ec_domain;

    64

    domain->kobj.parent = &master->kobj;

    65

    if (kobject_set_name(&domain->kobj, "domain%i", index)) {

    66

        EC_ERR("Failed to set kobj name.\n");

    67

        return -1;

    68

    }

    69

    70

    return 0;

    71

}

    72

    73

/*****************************************************************************/

    74

    75

/**

    76

   Destruktor einer EtherCAT-Domäne.

    77

*/

    78

    79

void ec_domain_clear(struct kobject *kobj /**< Kobject der Domäne */)

    80

{

    81

    ec_command_t *command, *next;

    82

    ec_domain_t *domain;

    83

    84

    domain = container_of(kobj, ec_domain_t, kobj);

    85

    86

    EC_INFO("Clearing domain %i.\n", domain->index);

    87

    88

    list_for_each_entry_safe(command, next, &domain->commands, list) {

    89

        ec_command_clear(command);

    90

        kfree(command);

    91

    }

    92

    93

    ec_domain_clear_field_regs(domain);

    94

    95

    kfree(domain);

    96

}

    97

    98

/*****************************************************************************/

    99

   100

/**

   101

   Registriert ein Feld in einer Domäne.

   102

   103

   \return 0 bei Erfolg, < 0 bei Fehler

   104

*/

   105

   106

int ec_domain_reg_field(ec_domain_t *domain, /**< Domäne */

   107

                        ec_slave_t *slave, /**< Slave */

   108

                        const ec_sync_t *sync, /**< Sync-Manager */

   109

                        uint32_t field_offset, /**< Datenfeld-Offset */

   110

                        void **data_ptr /**< Adresse des Prozessdatenzeigers */

   111

                        )

   112

{

   113

    ec_field_reg_t *field_reg;

   114

   115

    if (!(field_reg =

   116

          (ec_field_reg_t *) kmalloc(sizeof(ec_field_reg_t), GFP_KERNEL))) {

   117

        EC_ERR("Failed to allocate field registration.\n");

   118

        return -1;

   119

    }

   120

   121

    if (ec_slave_prepare_fmmu(slave, domain, sync)) {

   122

        EC_ERR("FMMU configuration failed.\n");

   123

        kfree(field_reg);

   124

        return -1;

   125

    }

   126

   127

    field_reg->slave = slave;

   128

    field_reg->sync = sync;

   129

    field_reg->field_offset = field_offset;

   130

    field_reg->data_ptr = data_ptr;

   131

   132

    list_add_tail(&field_reg->list, &domain->field_regs);

   133

    return 0;

   134

}

   135

   136

/*****************************************************************************/

   137

   138

/**

   139

   Gibt die Liste der registrierten Datenfelder frei.

   140

*/

   141

   142

void ec_domain_clear_field_regs(ec_domain_t *domain)

   143

{

   144

    ec_field_reg_t *field_reg, *next;

   145

   146

    list_for_each_entry_safe(field_reg, next, &domain->field_regs, list) {

   147

        list_del(&field_reg->list);

   148

        kfree(field_reg);

   149

    }

   150

}

   151

   152

/*****************************************************************************/

   153

   154

/**

   155

   Alloziert ein Prozessdatenkommando und fügt es in die Liste ein.

   156

*/

   157

   158

int ec_domain_add_command(ec_domain_t *domain, /**< Domäne */

   159

                          uint32_t offset, /**< Logisches Offset */

   160

                          size_t data_size /**< Größe der Kommando-Daten */

   161

                          )

   162

{

   163

    ec_command_t *command;

   164

   165

    if (!(command = kmalloc(sizeof(ec_command_t), GFP_KERNEL))) {

   166

        EC_ERR("Failed to allocate domain command!\n");

   167

        return -1;

   168

    }

   169

   170

    ec_command_init(command);

   171

   172

    if (ec_command_lrw(command, offset, data_size)) {

   173

        kfree(command);

   174

        return -1;

   175

    }

   176

   177

    list_add_tail(&command->list, &domain->commands);

   178

    return 0;

   179

}

   180

   181

/*****************************************************************************/

   182

   183

/**

   184

   Erzeugt eine Domäne.

   185

   186

   Reserviert den Speicher einer Domäne, berechnet die logischen Adressen der

   187

   FMMUs und setzt die Prozessdatenzeiger der registrierten Felder.

   188

   189

   \return 0 bei Erfolg, < 0 bei Fehler

   190

*/

   191

   192

int ec_domain_alloc(ec_domain_t *domain, /**< Domäne */

   193

                    uint32_t base_address /**< Logische Basisadresse */

   194

                    )

   195

{

   196

    ec_field_reg_t *field_reg;

   197

    ec_slave_t *slave;

   198

    ec_fmmu_t *fmmu;

   199

    unsigned int i, j, cmd_count;

   200

    uint32_t field_off, field_off_cmd;

   201

    uint32_t cmd_offset;

   202

    size_t cmd_data_size;

   203

    ec_command_t *command;

   204

   205

    domain->base_address = base_address;

   206

   207

    // Größe der Prozessdaten berechnen und Kommandos allozieren

   208

    domain->data_size = 0;

   209

    cmd_offset = base_address;

   210

    cmd_data_size = 0;

   211

    cmd_count = 0;

   212

    list_for_each_entry(slave, &domain->master->slaves, list) {

   213

        for (j = 0; j < slave->fmmu_count; j++) {

   214

            fmmu = &slave->fmmus[j];

   215

            if (fmmu->domain == domain) {

   216

                fmmu->logical_start_address = base_address + domain->data_size;

   217

                domain->data_size += fmmu->sync->size;

   218

                if (cmd_data_size + fmmu->sync->size > EC_MAX_DATA_SIZE) {

   219

                    if (ec_domain_add_command(domain, cmd_offset,

   220

                                              cmd_data_size)) return -1;

   221

                    cmd_offset += cmd_data_size;

   222

                    cmd_data_size = 0;

   223

                    cmd_count++;

   224

                }

   225

                cmd_data_size += fmmu->sync->size;

   226

            }

   227

        }

   228

    }

   229

   230

    // Letztes Kommando allozieren

   231

    if (cmd_data_size) {

   232

        if (ec_domain_add_command(domain, cmd_offset, cmd_data_size))

   233

            return -1;

   234

        cmd_count++;

   235

    }

   236

   237

    if (!cmd_count) {

   238

        EC_WARN("Domain %i contains no data!\n", domain->index);

   239

        ec_domain_clear_field_regs(domain);

   240

        return 0;

   241

    }

   242

   243

    // Alle Prozessdatenzeiger setzen

   244

    list_for_each_entry(field_reg, &domain->field_regs, list) {

   245

        for (i = 0; i < field_reg->slave->fmmu_count; i++) {

   246

            fmmu = &field_reg->slave->fmmus[i];

   247

            if (fmmu->domain == domain && fmmu->sync == field_reg->sync) {

   248

                field_off = fmmu->logical_start_address +

   249

                    field_reg->field_offset;

   250

                // Kommando suchen

   251

                list_for_each_entry(command, &domain->commands, list) {

   252

                    field_off_cmd = field_off - command->address.logical;

   253

                    if (field_off >= command->address.logical &&

   254

                        field_off_cmd < command->mem_size) {

   255

                        *field_reg->data_ptr = command->data + field_off_cmd;

   256

                    }

   257

                }

   258

                if (!field_reg->data_ptr) {

   259

                    EC_ERR("Failed to assign data pointer!\n");

   260

                    return -1;

   261

                }

   262

                break;

   263

            }

   264

        }

   265

    }

   266

   267

    EC_INFO("Domain %i - Allocated %i bytes in %i command%s\n",

   268

            domain->index, domain->data_size, cmd_count,

   269

            cmd_count == 1 ? "" : "s");

   270

   271

    ec_domain_clear_field_regs(domain);

   272

   273

    return 0;

   274

}

   275

   276

/*****************************************************************************/

   277

   278

/**

   279

   Gibt die Anzahl der antwortenden Slaves aus.

   280

*/

   281

   282

void ec_domain_response_count(ec_domain_t *domain, /**< Domäne */

   283

                              unsigned int count /**< Neue Anzahl */

   284

                              )

   285

{

   286

    if (count != domain->response_count) {

   287

        domain->response_count = count;

   288

        EC_INFO("Domain %i working counter change: %i\n", domain->index, count);

   289

    }

   290

}

   291

   292

/*****************************************************************************/

   293

   294

/**

   295

   Formatiert Attribut-Daten für lesenden Zugriff im SysFS

   296

   297

   \return Anzahl Bytes im Speicher

   298

*/

   299

   300

ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< KObject */

   301

                                 struct attribute *attr, /**< Attribut */

   302

                                 char *buffer /**< Speicher für die Daten */

   303

                                 )

   304

{

   305

    ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);

   306

   307

    if (attr == &attr_data_size) {

   308

        return sprintf(buffer, "%i\n", domain->data_size);

   309

    }

   310

   311

    return 0;

   312

}

   313

   314

/******************************************************************************

   315

 *

   316

 * Echtzeitschnittstelle

   317

 *

   318

 *****************************************************************************/

   319

   320

/**

   321

   Registriert ein Datenfeld innerhalb einer Domäne.

   322

   323

   - Ist \a data_ptr NULL, so wird der Slave nur auf den Typ überprüft.

   324

   - Wenn \a field_count 0 ist, wird angenommen, dass 1 Feld registriert werden

   325

     soll.

   326

   - Wenn \a field_count größer als 1 ist, wird angenommen, dass \a data_ptr

   327

     auf ein entsprechend großes Array zeigt.

   328

   329

   \return Zeiger auf den Slave bei Erfolg, sonst NULL

   330

*/

   331

   332

ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

   333

                                       /**< Domäne */

   334

                                       const char *address,

   335

                                       /**< ASCII-Addresse des Slaves,

   336

                                          siehe ecrt_master_get_slave() */

   337

                                       const char *vendor_name,

   338

                                       /**< Herstellername */

   339

                                       const char *product_name,

   340

                                       /**< Produktname */

   341

                                       void **data_ptr,

   342

                                       /**< Adresse des Zeigers auf die

   343

                                          Prozessdaten */

   344

                                       const char *field_name,

   345

                                       /**< Name des Datenfeldes */

   346

                                       unsigned int field_index,

   347

                                       /**< Gibt an, ab welchem Feld mit

   348

                                          Typ \a field_type gezählt

   349

                                          werden soll. */

   350

                                       unsigned int field_count

   351

                                       /**< Anzahl Felder selben Typs */

   352

                                       )

   353

{

   354

    ec_slave_t *slave;

   355

    const ec_slave_type_t *type;

   356

    ec_master_t *master;

   357

    const ec_sync_t *sync;

   358

    const ec_field_t *field;

   359

    unsigned int field_counter, i, j, orig_field_index, orig_field_count;

   360

    uint32_t field_offset;

   361

   362

    master = domain->master;

   363

   364

    // Adresse übersetzen

   365

    if (!(slave = ecrt_master_get_slave(master, address))) return NULL;

   366

   367

    if (!(type = slave->type)) {

   368

        EC_ERR("Slave \"%s\" (position %i) has unknown type!\n", address,

   369

               slave->ring_position);

   370

        return NULL;

   371

    }

   372

   373

    if (strcmp(vendor_name, type->vendor_name) ||

   374

        strcmp(product_name, type->product_name)) {

   375

        EC_ERR("Invalid slave type at position %i - Requested: \"%s %s\","

   376

               " found: \"%s %s\".\n", slave->ring_position, vendor_name,

   377

               product_name, type->vendor_name, type->product_name);

   378

        return NULL;

   379

    }

   380

   381

    if (!data_ptr) {

   382

        // Wenn data_ptr NULL, Slave als registriert ansehen (nicht warnen).

   383

        slave->registered = 1;

   384

    }

   385

   386

    if (!field_count) field_count = 1;

   387

    orig_field_index = field_index;

   388

    orig_field_count = field_count;

   389

   390

    field_counter = 0;

   391

    for (i = 0; type->sync_managers[i]; i++) {

   392

        sync = type->sync_managers[i];

   393

        field_offset = 0;

   394

        for (j = 0; sync->fields[j]; j++) {

   395

            field = sync->fields[j];

   396

            if (!strcmp(field->name, field_name)) {

   397

                if (field_counter++ == field_index) {

   398

                    if (data_ptr)

   399

                        ec_domain_reg_field(domain, slave, sync, field_offset,

   400

                                            data_ptr++);

   401

                    if (!(--field_count)) return slave;

   402

                    field_index++;

   403

                }

   404

            }

   405

            field_offset += field->size;

   406

        }

   407

    }

   408

   409

    EC_ERR("Slave %i (\"%s %s\") registration mismatch: Field \"%s\","

   410

           " index %i, count %i.\n", slave->ring_position, vendor_name,

   411

           product_name, field_name, orig_field_index, orig_field_count);

   412

    return NULL;

   413

}

   414

   415

/*****************************************************************************/

   416

   417

/**

   418

   Registriert eine ganze Liste von Datenfeldern innerhalb einer Domäne.

   419

   420

   Achtung: Die Liste muss mit einer NULL-Struktur ({}) abgeschlossen sein!

   421

   422

   \return 0 bei Erfolg, sonst < 0

   423

*/

   424

   425

int ecrt_domain_register_field_list(ec_domain_t *domain,

   426

                                    /**< Domäne */

   427

                                    const ec_field_init_t *fields

   428

                                    /**< Array mit Datenfeldern */

   429

                                    )

   430

{

   431

    const ec_field_init_t *field;

   432

   433

    for (field = fields; field->slave_address; field++)

   434

        if (!ecrt_domain_register_field(domain, field->slave_address,

   435

                                        field->vendor_name,

   436

                                        field->product_name, field->data_ptr,

   437

                                        field->field_name, field->field_index,

   438

                                        field->field_count))

   439

            return -1;

   440

   441

    return 0;

   442

}

   443

   444

/*****************************************************************************/

   445

   446

/**

   447

   Setzt Prozessdaten-Kommandos in die Warteschlange des Masters.

   448

*/

   449

   450

void ecrt_domain_queue(ec_domain_t *domain /**< Domäne */)

   451

{

   452

    ec_command_t *command;

   453

   454

    list_for_each_entry(command, &domain->commands, list) {

   455

        ec_master_queue_command(domain->master, command);

   456

    }

   457

}

   458

   459

/*****************************************************************************/

   460

   461

/**

   462

   Verarbeitet empfangene Prozessdaten.

   463

*/

   464

   465

void ecrt_domain_process(ec_domain_t *domain /**< Domäne */)

   466

{

   467

    unsigned int working_counter_sum;

   468

    ec_command_t *command;

   469

   470

    working_counter_sum = 0;

   471

   472

    list_for_each_entry(command, &domain->commands, list) {

   473

        if (command->state == EC_CMD_RECEIVED) {

   474

            working_counter_sum += command->working_counter;

   475

        }

   476

    }

   477

   478

    ec_domain_response_count(domain, working_counter_sum);

   479

}

   480

   481

/*****************************************************************************/

   482

   483

/**

   484

   Gibt den Status einer Domäne zurück.

   485

   486

   \return 0 wenn alle Kommandos empfangen wurden, sonst -1.

   487

*/

   488

   489

int ecrt_domain_state(ec_domain_t *domain /**< Domäne */)

   490

{