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

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 *

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 *  d o m a i n . c

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 *

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 *  Methoden für Gruppen von EtherCAT-Slaves.

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 *

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 *  $Id$

     8

 *

     9

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

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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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void ec_domain_clear_field_regs(ec_domain_t *);

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

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/**

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   Konstruktor einer EtherCAT-Domäne.

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*/

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

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                    ec_master_t *master /**< Zugehöriger Master */

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                    )

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{

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    domain->master = master;

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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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    INIT_LIST_HEAD(&domain->field_regs);

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    INIT_LIST_HEAD(&domain->commands);

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}

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

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/**

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   Destruktor einer EtherCAT-Domäne.

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*/

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

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{

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    ec_command_t *command, *next;

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

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        ec_command_clear(command);

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        kfree(command);

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    }

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    ec_domain_clear_field_regs(domain);

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}

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

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/**

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   Registriert ein Feld in einer Domäne.

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   \return 0 bei Erfolg, < 0 bei Fehler

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*/

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

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                        ec_slave_t *slave, /**< Slave */

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

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

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

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                        )

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{

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    ec_field_reg_t *field_reg;

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    if (!(field_reg =

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

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

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        return -1;

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    }

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

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

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        kfree(field_reg);

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        return -1;

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    }

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    field_reg->slave = slave;

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    field_reg->sync = sync;

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    field_reg->field_offset = field_offset;

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    field_reg->data_ptr = data_ptr;

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

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    return 0;

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}

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

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/**

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   Gibt die Liste der registrierten Datenfelder frei.

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*/

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void ec_domain_clear_field_regs(ec_domain_t *domain)

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{

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    ec_field_reg_t *field_reg, *next;

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

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        list_del(&field_reg->list);

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        kfree(field_reg);

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    }

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}

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

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/**

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   Alloziert ein Prozessdatenkommando und fügt es in die Liste ein.

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*/

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

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                          uint32_t offset, /**< Logisches Offset */

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

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                          )

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{

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    ec_command_t *command;

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

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

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        return -1;

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    }

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    ec_command_init(command);

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

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        kfree(command);

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        return -1;

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    }

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

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    return 0;

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}

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

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/**

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   Erzeugt eine Domäne.

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   Reserviert den Speicher einer Domäne, berechnet die logischen Adressen der

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   FMMUs und setzt die Prozessdatenzeiger der registrierten Felder.

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   \return 0 bei Erfolg, < 0 bei Fehler

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*/

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

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                    uint32_t base_address /**< Logische Basisadresse */

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                    )

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{

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    ec_field_reg_t *field_reg;

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    ec_slave_t *slave;

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    ec_fmmu_t *fmmu;

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    unsigned int i, j, cmd_count;

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    uint32_t field_off, field_off_cmd;

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    uint32_t cmd_offset;

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    size_t cmd_data_size;

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    ec_command_t *command;

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    domain->base_address = base_address;

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    // Größe der Prozessdaten berechnen und Kommandos allozieren

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    domain->data_size = 0;

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    cmd_offset = base_address;

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    cmd_data_size = 0;

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    cmd_count = 0;

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    for (i = 0; i < domain->master->slave_count; i++) {

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        slave = &domain->master->slaves[i];

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

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            fmmu = &slave->fmmus[j];

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            if (fmmu->domain == domain) {

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

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

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

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                    if (ec_domain_add_command(domain, cmd_offset,

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                                              cmd_data_size)) return -1;

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                    cmd_offset += cmd_data_size;

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                    cmd_data_size = 0;

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                    cmd_count++;

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                }

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                cmd_data_size += fmmu->sync->size;

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            }

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        }

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    }

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    // Letztes Kommando allozieren

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    if (cmd_data_size) {

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        if (ec_domain_add_command(domain, cmd_offset, cmd_data_size))

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            return -1;

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        cmd_count++;

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    }

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    if (!cmd_count) {

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        EC_WARN("Domain 0x%08X contains no data!\n", (u32) domain);

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        ec_domain_clear_field_regs(domain);

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        return 0;

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    }

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    // Alle Prozessdatenzeiger setzen

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

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

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

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

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                field_off = fmmu->logical_start_address +

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                    field_reg->field_offset;

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                // Kommando suchen

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

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                    field_off_cmd = field_off - command->address.logical;

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

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                        field_off_cmd < command->mem_size) {

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

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                    }

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                }

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                if (!field_reg->data_ptr) {

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

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                    return -1;

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                }

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                break;

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            }

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        }

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    }

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

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            (u32) domain, domain->data_size, cmd_count);

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    ec_domain_clear_field_regs(domain);

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    return 0;

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}

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

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/**

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   Gibt die Anzahl der antwortenden Slaves aus.

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*/

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

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                              unsigned int count /**< Neue Anzahl */

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                              )

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{

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    if (count != domain->response_count) {

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        domain->response_count = count;

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        EC_INFO("Domain %08X state change - %i slave%s responding.\n",

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                (u32) domain, count, count == 1 ? "" : "s");

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    }

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}

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

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 *

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 * Echtzeitschnittstelle

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 *

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

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/**

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   Registriert ein Datenfeld innerhalb einer Domäne.

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

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

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     soll.

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

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     auf ein entsprechend großes Array zeigt.

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   \return Zeiger auf den Slave bei Erfolg, sonst NULL

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*/

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ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

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                                       /**< Domäne */

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                                       const char *address,

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                                       /**< ASCII-Addresse des Slaves,

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                                          siehe ecrt_master_get_slave() */

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                                       const char *vendor_name,

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                                       /**< Herstellername */

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                                       const char *product_name,

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                                       /**< Produktname */

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                                       void **data_ptr,

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                                       /**< Adresse des Zeigers auf die

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                                          Prozessdaten */

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                                       const char *field_name,

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                                       /**< Name des Datenfeldes */

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                                       unsigned int field_index,

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                                       /**< Gibt an, ab welchem Feld mit

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                                          Typ \a field_type gezählt

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                                          werden soll. */

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                                       unsigned int field_count

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                                       /**< Anzahl Felder selben Typs */

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                                       )

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{

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    ec_slave_t *slave;

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    const ec_slave_type_t *type;

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    ec_master_t *master;

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    const ec_sync_t *sync;

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    const ec_field_t *field;

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

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    uint32_t field_offset;

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    master = domain->master;

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    // Adresse übersetzen

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

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

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

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               slave->ring_position);

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        return NULL;

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    }

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

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        strcmp(product_name, type->product_name)) {

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

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

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

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        return NULL;

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    }

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    if (!data_ptr) {

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

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        slave->registered = 1;

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    }

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    if (!field_count) field_count = 1;

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    orig_field_index = field_index;

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    orig_field_count = field_count;

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    field_counter = 0;

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

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        sync = type->sync_managers[i];

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        field_offset = 0;

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

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            field = sync->fields[j];

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

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                if (field_counter++ == field_index) {

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                    if (data_ptr)

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                        ec_domain_reg_field(domain, slave, sync, field_offset,

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                                            data_ptr++);

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

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                    field_index++;

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                }

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            }

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            field_offset += field->size;

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        }

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    }

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

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

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           product_name, field_name, orig_field_index, orig_field_count);

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    return NULL;

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}

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

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/**

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   Registriert eine ganze Liste von Datenfeldern innerhalb einer Domäne.

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

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   \return 0 bei Erfolg, sonst < 0

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*/

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int ecrt_domain_register_field_list(ec_domain_t *domain,

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                                    /**< Domäne */

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                                    const ec_field_init_t *fields

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                                    /**< Array mit Datenfeldern */

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                                    )

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{

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    const ec_field_init_t *field;

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

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

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                                        field->vendor_name,

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                                        field->product_name, field->data_ptr,

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                                        field->field_name, field->field_index,

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                                        field->field_count))

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            return -1;

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    return 0;

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}

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

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/**

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   Setzt Prozessdaten-Kommandos in die Warteschlange des Masters.

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*/

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

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{

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    ec_command_t *command;

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

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        ec_master_queue_command(domain->master, command);

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    }

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}

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

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/**

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   Verarbeitet empfangene Prozessdaten.

   399

*/

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

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{

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    unsigned int working_counter_sum;

   404

    ec_command_t *command;

   405

   406

    working_counter_sum = 0;

   407

   408

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

   409

        if (command->state == EC_CMD_RECEIVED) {

   410

            working_counter_sum += command->working_counter;

   411

        }

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    }

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    ec_domain_response_count(domain, working_counter_sum);

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}

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

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   419

/**

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   Gibt den Status einer Domäne zurück.

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

   423

*/

   424

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

   426

{

   427

    ec_command_t *command;

   428

   429

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

   430

        if (command->state != EC_CMD_RECEIVED) return -1;

   431

    }

   432

   433

    return 0;

   434

}

   435

   436

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

   437

   438

EXPORT_SYMBOL(ecrt_domain_register_field);

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EXPORT_SYMBOL(ecrt_domain_register_field_list);

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EXPORT_SYMBOL(ecrt_domain_queue);

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EXPORT_SYMBOL(ecrt_domain_process);

   442

EXPORT_SYMBOL(ecrt_domain_state);

   443

   444

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

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/* Emacs-Konfiguration

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;;; Local Variables: ***

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;;; c-basic-offset:4 ***

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;;; End: ***

   450

*/