author | Florian Pose <fp@igh-essen.com> |
Mon, 06 Nov 2006 09:43:36 +0000 | |
changeset 479 | 610ddcf35d5c |
parent 448 | e4b76dc7910c |
child 484 | 9fde4a17b820 |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT domain methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include "globals.h" |
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#include "domain.h" |
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#include "master.h" |
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/*****************************************************************************/ |
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/** |
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Data registration type. |
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*/ |
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typedef struct |
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{ |
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struct list_head list; /**< list item */ |
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ec_slave_t *slave; /**< slave */ |
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const ec_sii_sync_t *sync; /**< sync manager */ |
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off_t sync_offset; /**< pdo offset */ |
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void **data_ptr; /**< pointer to process data pointer(s) */ |
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} |
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ec_data_reg_t; |
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/*****************************************************************************/ |
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void ec_domain_clear(struct kobject *); |
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void ec_domain_clear_data_regs(ec_domain_t *); |
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ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *); |
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/*****************************************************************************/ |
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/** \cond */ |
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EC_SYSFS_READ_ATTR(image_size); |
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static struct attribute *def_attrs[] = { |
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&attr_image_size, |
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NULL, |
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}; |
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static struct sysfs_ops sysfs_ops = { |
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.show = &ec_show_domain_attribute, |
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.store = NULL |
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}; |
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static struct kobj_type ktype_ec_domain = { |
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.release = ec_domain_clear, |
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.sysfs_ops = &sysfs_ops, |
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.default_attrs = def_attrs |
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}; |
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/** \endcond */ |
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/*****************************************************************************/ |
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/** |
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Domain constructor. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */ |
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ec_master_t *master, /**< owning master */ |
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unsigned int index /**< domain index */ |
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) |
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{ |
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domain->master = master; |
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domain->index = index; |
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domain->data_size = 0; |
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domain->base_address = 0; |
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domain->response_count = 0xFFFFFFFF; |
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domain->notify_jiffies = 0; |
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domain->working_counter_changes = 0; |
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INIT_LIST_HEAD(&domain->data_regs); |
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INIT_LIST_HEAD(&domain->datagrams); |
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|
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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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return -1; |
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} |
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125 |
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return 0; |
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} |
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/*****************************************************************************/ |
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/** |
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Domain destructor. |
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Clears and frees a domain object. |
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*/ |
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135 |
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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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145 |
|
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// destroy self |
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kobject_del(&domain->kobj); |
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kobject_put(&domain->kobj); |
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} |
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/*****************************************************************************/ |
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152 |
|
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/** |
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154 |
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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158 |
|
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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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/** |
339 | 179 |
Registeres 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(ec_domain_t *domain, /**< EtherCAT domain */ |
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ec_slave_t *slave, /**< slave */ |
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const ec_sii_pdo_t *pdo, /**< PDO */ |
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const ec_sii_pdo_entry_t *entry, |
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/**< PDO registration entry */ |
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void **data_ptr /**< pointer to the process data |
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pointer */ |
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190 |
) |
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{ |
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ec_data_reg_t *data_reg; |
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const ec_sii_sync_t *sync; |
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const ec_sii_pdo_t *other_pdo; |
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const ec_sii_pdo_entry_t *other_entry; |
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unsigned int bit_offset, byte_offset, sync_found; |
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|
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// Find sync manager for PDO |
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sync_found = 0; |
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list_for_each_entry(sync, &slave->sii_syncs, list) { |
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201 |
if (sync->index == pdo->sync_index) { |
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sync_found = 1; |
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203 |
break; |
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204 |
} |
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205 |
} |
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206 |
|
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207 |
if (!sync_found) { |
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EC_ERR("No sync manager for PDO 0x%04X:%i.", |
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209 |
pdo->index, entry->subindex); |
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return -1; |
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211 |
} |
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212 |
|
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213 |
// Calculate offset (in sync manager) for process data pointer |
325
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bit_offset = 0; |
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byte_offset = 0; |
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216 |
list_for_each_entry(other_pdo, &slave->sii_pdos, list) { |
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217 |
if (other_pdo->sync_index != sync->index) continue; |
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218 |
|
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219 |
list_for_each_entry(other_entry, &other_pdo->entries, list) { |
325
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if (other_entry == entry) { |
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byte_offset = bit_offset / 8; |
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222 |
break; |
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223 |
} |
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|
224 |
bit_offset += other_entry->bit_length; |
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|
225 |
} |
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|
226 |
} |
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|
227 |
|
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|
228 |
// Allocate memory for data registration object |
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|
229 |
if (!(data_reg = |
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|
230 |
(ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) { |
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|
231 |
EC_ERR("Failed to allocate data registration.\n"); |
73
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|
232 |
return -1; |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
233 |
} |
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diff
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|
234 |
|
160
7ddf8367196a
Renamed slave_set_fmmu() to slave_prepare_fmmu().
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|
235 |
if (ec_slave_prepare_fmmu(slave, domain, sync)) { |
84
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|
236 |
EC_ERR("FMMU configuration failed.\n"); |
325
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|
237 |
kfree(data_reg); |
73
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|
238 |
return -1; |
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diff
changeset
|
239 |
} |
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diff
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|
240 |
|
325
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|
241 |
data_reg->slave = slave; |
7833cf70c4f2
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|
242 |
data_reg->sync = sync; |
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|
243 |
data_reg->sync_offset = byte_offset; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
244 |
data_reg->data_ptr = data_ptr; |
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|
245 |
|
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|
246 |
list_add_tail(&data_reg->list, &domain->data_regs); |
446 | 247 |
|
248 |
ec_slave_request_state(slave, EC_SLAVE_STATE_OP); |
|
249 |
||
73
9f4ea66d89a3
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diff
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|
250 |
return 0; |
9f4ea66d89a3
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diff
changeset
|
251 |
} |
9f4ea66d89a3
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|
252 |
|
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|
253 |
/*****************************************************************************/ |
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|
254 |
|
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|
255 |
/** |
416
4f007cd2a79d
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|
256 |
Registeres a PDO range. |
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|
257 |
\return 0 in case of success, else < 0 |
4f007cd2a79d
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|
258 |
*/ |
4f007cd2a79d
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changeset
|
259 |
|
4f007cd2a79d
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changeset
|
260 |
int ec_domain_reg_pdo_range(ec_domain_t *domain, /**< EtherCAT domain */ |
4f007cd2a79d
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|
261 |
ec_slave_t *slave, /**< slave */ |
4f007cd2a79d
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changeset
|
262 |
ec_direction_t dir, /**< data direction */ |
4f007cd2a79d
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parents:
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diff
changeset
|
263 |
uint16_t offset, /**< offset */ |
4f007cd2a79d
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parents:
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diff
changeset
|
264 |
uint16_t length, /**< length */ |
4f007cd2a79d
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parents:
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diff
changeset
|
265 |
void **data_ptr /**< pointer to the process data |
4f007cd2a79d
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diff
changeset
|
266 |
pointer */ |
4f007cd2a79d
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parents:
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diff
changeset
|
267 |
) |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
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diff
changeset
|
268 |
{ |
4f007cd2a79d
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parents:
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diff
changeset
|
269 |
ec_data_reg_t *data_reg; |
4f007cd2a79d
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parents:
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diff
changeset
|
270 |
ec_sii_sync_t *sync; |
4f007cd2a79d
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parents:
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diff
changeset
|
271 |
unsigned int sync_found, sync_index; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
410
diff
changeset
|
272 |
uint16_t sync_length; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
410
diff
changeset
|
273 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
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diff
changeset
|
274 |
switch (dir) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
410
diff
changeset
|
275 |
case EC_DIR_OUTPUT: sync_index = 2; break; |
4f007cd2a79d
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Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
276 |
case EC_DIR_INPUT: sync_index = 3; break; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
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diff
changeset
|
277 |
default: |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
278 |
EC_ERR("Invalid direction!\n"); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
410
diff
changeset
|
279 |
return -1; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
280 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
281 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
282 |
// Find sync manager |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
283 |
sync_found = 0; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
284 |
list_for_each_entry(sync, &slave->sii_syncs, list) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
285 |
if (sync->index == sync_index) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
286 |
sync_found = 1; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
287 |
break; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
288 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
289 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
290 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
291 |
if (!sync_found) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
292 |
EC_ERR("No sync manager found for PDO range.\n"); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
293 |
return -1; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
294 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
295 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
296 |
// Allocate memory for data registration object |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
297 |
if (!(data_reg = |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
298 |
(ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
299 |
EC_ERR("Failed to allocate data registration.\n"); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
300 |
return -1; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
301 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
302 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
303 |
if (ec_slave_prepare_fmmu(slave, domain, sync)) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
304 |
EC_ERR("FMMU configuration failed.\n"); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
305 |
kfree(data_reg); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
306 |
return -1; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
307 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
308 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
309 |
data_reg->slave = slave; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
310 |
data_reg->sync = sync; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
311 |
data_reg->sync_offset = offset; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
312 |
data_reg->data_ptr = data_ptr; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
313 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
314 |
// estimate sync manager length |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
315 |
sync_length = offset + length; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
316 |
if (sync->est_length < sync_length) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
317 |
sync->est_length = sync_length; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
318 |
if (domain->master->debug_level) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
319 |
EC_DBG("Estimating length of sync manager %i of slave %i to %i.\n", |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
320 |
sync->index, slave->ring_position, sync_length); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
321 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
322 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
323 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
324 |
list_add_tail(&data_reg->list, &domain->data_regs); |
446 | 325 |
|
326 |
ec_slave_request_state(slave, EC_SLAVE_STATE_OP); |
|
327 |
||
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
328 |
return 0; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
329 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
330 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
331 |
/*****************************************************************************/ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
332 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
333 |
/** |
339 | 334 |
Clears the list of the data registrations. |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
335 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
336 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
337 |
void ec_domain_clear_data_regs(ec_domain_t *domain /**< EtherCAT domain */) |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
338 |
{ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
339 |
ec_data_reg_t *data_reg, *next; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
340 |
|
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|
341 |
list_for_each_entry_safe(data_reg, next, &domain->data_regs, list) { |
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|
342 |
list_del(&data_reg->list); |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
343 |
kfree(data_reg); |
98
f564d0929292
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|
344 |
} |
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|
345 |
} |
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|
346 |
|
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|
347 |
/*****************************************************************************/ |
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|
348 |
|
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|
349 |
/** |
293
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|
350 |
Allocates a process data datagram and appends it to the list. |
195
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|
351 |
\return 0 in case of success, else < 0 |
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|
352 |
*/ |
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Translated all comments and documentation to english language.
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|
353 |
|
293
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|
354 |
int ec_domain_add_datagram(ec_domain_t *domain, /**< EtherCAT domain */ |
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|
355 |
uint32_t offset, /**< logical offset */ |
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|
356 |
size_t data_size /**< size of the datagram data */ |
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changeset
|
357 |
) |
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|
358 |
{ |
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|
359 |
ec_datagram_t *datagram; |
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|
360 |
|
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|
361 |
if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) { |
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|
362 |
EC_ERR("Failed to allocate domain datagram!\n"); |
144
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|
363 |
return -1; |
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Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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|
364 |
} |
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|
365 |
|
293
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|
366 |
ec_datagram_init(datagram); |
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Renamed command structure to datagram.
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|
367 |
|
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|
368 |
if (ec_datagram_lrw(datagram, offset, data_size)) { |
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Renamed command structure to datagram.
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|
369 |
kfree(datagram); |
144
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|
370 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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|
371 |
} |
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Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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changeset
|
372 |
|
293
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|
373 |
list_add_tail(&datagram->list, &domain->datagrams); |
144
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|
374 |
return 0; |
fdc24bf62f80
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diff
changeset
|
375 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
376 |
|
fdc24bf62f80
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|
377 |
/*****************************************************************************/ |
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changeset
|
378 |
|
fdc24bf62f80
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diff
changeset
|
379 |
/** |
195
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diff
changeset
|
380 |
Creates a domain. |
674071846ee3
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diff
changeset
|
381 |
Reserves domain memory, calculates the logical addresses of the |
674071846ee3
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|
382 |
corresponding FMMUs and sets the process data pointer of the registered |
325
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VERSION 1.1: New realtime interface, only state machines.
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|
383 |
process data. |
195
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|
384 |
\return 0 in case of success, else < 0 |
674071846ee3
Translated all comments and documentation to english language.
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parents:
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diff
changeset
|
385 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
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diff
changeset
|
386 |
|
674071846ee3
Translated all comments and documentation to english language.
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changeset
|
387 |
int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */ |
275
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|
388 |
uint32_t base_address /**< logical base address */ |
73
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
389 |
) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
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|
390 |
{ |
325
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VERSION 1.1: New realtime interface, only state machines.
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|
391 |
ec_data_reg_t *data_reg; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
392 |
ec_slave_t *slave; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
393 |
ec_fmmu_t *fmmu; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
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|
394 |
unsigned int i, j, datagram_count; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
395 |
uint32_t pdo_off, pdo_off_datagram; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
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|
396 |
uint32_t datagram_offset; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
changeset
|
397 |
size_t datagram_data_size, sync_size; |
293
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changeset
|
398 |
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
|
399 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
400 |
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
|
401 |
|
275
ba51285d4ef6
Variable-sized data fields, BK1120.
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parents:
246
diff
changeset
|
402 |
// calculate size of process data and allocate memory |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
403 |
domain->data_size = 0; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
404 |
datagram_offset = base_address; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
405 |
datagram_data_size = 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
406 |
datagram_count = 0; |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
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parents:
179
diff
changeset
|
407 |
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
|
408 |
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
|
409 |
fmmu = &slave->fmmus[j]; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
410 |
if (fmmu->domain == domain) { |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
411 |
fmmu->logical_start_address = base_address + domain->data_size; |
275
ba51285d4ef6
Variable-sized data fields, BK1120.
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parents:
246
diff
changeset
|
412 |
sync_size = ec_slave_calc_sync_size(slave, fmmu->sync); |
ba51285d4ef6
Variable-sized data fields, BK1120.
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parents:
246
diff
changeset
|
413 |
domain->data_size += sync_size; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
315
diff
changeset
|
414 |
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
|
415 |
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
|
416 |
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
|
417 |
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
|
418 |
datagram_data_size = 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
419 |
datagram_count++; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
420 |
} |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
421 |
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
|
422 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
423 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
424 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
425 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
426 |
// allocate last datagram |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
427 |
if (datagram_data_size) { |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
428 |
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
|
429 |
datagram_data_size)) |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
430 |
return -1; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
431 |
datagram_count++; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
432 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
433 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
434 |
if (!datagram_count) { |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
166
diff
changeset
|
435 |
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
|
436 |
ec_domain_clear_data_regs(domain); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
437 |
return 0; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
438 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
439 |
|
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
440 |
// 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
|
441 |
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
|
442 |
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
|
443 |
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
|
444 |
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
|
445 |
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
|
446 |
// search datagram |
14aeb79aa992
Renamed command structure to datagram.
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|
447 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
325
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|
448 |
pdo_off_datagram = pdo_off - datagram->address.logical; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
449 |
if (pdo_off >= datagram->address.logical && |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
450 |
pdo_off_datagram < datagram->mem_size) { |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
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|
451 |
*data_reg->data_ptr = datagram->data + |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
452 |
pdo_off_datagram; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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138
diff
changeset
|
453 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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138
diff
changeset
|
454 |
} |
325
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|
455 |
if (!data_reg->data_ptr) { |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff
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|
456 |
EC_ERR("Failed to assign data pointer!\n"); |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff
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|
457 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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138
diff
changeset
|
458 |
} |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff
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|
459 |
break; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff
changeset
|
460 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff
changeset
|
461 |
} |
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MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff
changeset
|
462 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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97
diff
changeset
|
463 |
|
377
ecac8252f114
Changes in ecrt_request_master(); minor output changes.
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parents:
363
diff
changeset
|
464 |
EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s.\n", |
325
7833cf70c4f2
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|
465 |
domain->index, domain->data_size, datagram_count, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
466 |
datagram_count == 1 ? "" : "s"); |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
467 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
468 |
ec_domain_clear_data_regs(domain); |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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315
diff
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|
469 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
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|
470 |
return 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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315
diff
changeset
|
471 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
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|
472 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
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|
473 |
/*****************************************************************************/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
474 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
475 |
/** |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
476 |
Places all process data datagrams in the masters datagram queue. |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
477 |
*/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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315
diff
changeset
|
478 |
|
446 | 479 |
void ec_domain_queue_datagrams(ec_domain_t *domain /**< EtherCAT domain */) |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
480 |
{ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
changeset
|
481 |
ec_datagram_t *datagram; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
482 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
changeset
|
483 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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315
diff
changeset
|
484 |
ec_master_queue_datagram(domain->master, datagram); |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
485 |
} |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
486 |
} |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
487 |
|
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
488 |
/*****************************************************************************/ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
489 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
490 |
/** |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
491 |
Formats attribute data for SysFS reading. |
674071846ee3
Translated all comments and documentation to english language.
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diff
changeset
|
492 |
\return number of bytes to read |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
493 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
494 |
|
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
495 |
ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
496 |
struct attribute *attr, /**< attribute */ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
497 |
char *buffer /**< memory to store data in */ |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
498 |
) |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
166
diff
changeset
|
499 |
{ |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
500 |
ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
501 |
|
315 | 502 |
if (attr == &attr_image_size) { |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
503 |
return sprintf(buffer, "%i\n", domain->data_size); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
504 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
505 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
166
diff
changeset
|
506 |
return 0; |
97
e6264685dd7b
Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents:
96
diff
changeset
|
507 |
} |
e6264685dd7b
Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents:
96
diff
changeset
|
508 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
509 |
/****************************************************************************** |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
184
diff
changeset
|
510 |
* Realtime interface |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
511 |
*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
512 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
513 |
/** |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
514 |
Registers a PDO in a domain. |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
515 |
- If \a data_ptr is NULL, the slave is only validated. |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
516 |
\return pointer to the slave on success, else NULL |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
517 |
\ingroup RealtimeInterface |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
518 |
*/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
519 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
520 |
ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
521 |
/**< EtherCAT domain */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
522 |
const char *address, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
523 |
/**< ASCII address of the slave, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
524 |
see ecrt_master_get_slave() */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
525 |
uint32_t vendor_id, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
526 |
/**< vendor ID */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
527 |
uint32_t product_code, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
528 |
/**< product code */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
529 |
uint16_t pdo_index, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
530 |
/**< PDO index */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
531 |
uint8_t pdo_subindex, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
532 |
/**< PDO subindex */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
533 |
void **data_ptr |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
534 |
/**< address of the process data |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
535 |
pointer */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
536 |
) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
537 |
{ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
538 |
ec_slave_t *slave; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
539 |
ec_master_t *master; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
540 |
const ec_sii_pdo_t *pdo; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
315
diff
changeset
|
541 |
const ec_sii_pdo_entry_t *entry; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
542 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
543 |
master = domain->master; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
544 |
|
410 | 545 |
// translate address and validate slave |
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
546 |
if (!(slave = ecrt_master_get_slave(master, address))) return NULL; |
410 | 547 |
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
548 |
|
446 | 549 |
if (!data_ptr) return slave; |
112
eec7639c7be9
Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
Florian Pose <fp@igh-essen.com>
parents:
108
diff
changeset
|
550 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
551 |
list_for_each_entry(pdo, &slave->sii_pdos, list) { |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
552 |
list_for_each_entry(entry, &pdo->entries, list) { |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
553 |
if (entry->index != pdo_index |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
554 |
|| entry->subindex != pdo_subindex) continue; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
555 |
|
446 | 556 |
if (ec_domain_reg_pdo_entry(domain, slave, pdo, entry, data_ptr)) { |
557 |
return NULL; |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
558 |
} |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
559 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
560 |
return slave; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
561 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
562 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
563 |
|
325
7833cf70c4f2
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|
564 |
EC_ERR("Slave %i does not provide PDO 0x%04X:%i.\n", |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
565 |
slave->ring_position, pdo_index, pdo_subindex); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
566 |
return NULL; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
567 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
568 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
569 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
570 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
571 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
572 |
Registeres a bunch of data fields. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
573 |
Caution! The list has to be terminated with a NULL structure ({})! |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
574 |
\return 0 in case of success, else < 0 |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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diff
changeset
|
575 |
\ingroup RealtimeInterface |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
576 |
*/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
577 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
578 |
int ecrt_domain_register_pdo_list(ec_domain_t *domain, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
579 |
/**< EtherCAT domain */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
580 |
const ec_pdo_reg_t *pdos |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
581 |
/**< array of PDO registrations */ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
582 |
) |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
583 |
{ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
584 |
const ec_pdo_reg_t *pdo; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
585 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
586 |
for (pdo = pdos; pdo->slave_address; pdo++) |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
587 |
if (!ecrt_domain_register_pdo(domain, pdo->slave_address, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
588 |
pdo->vendor_id, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
589 |
pdo->product_code, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
590 |
pdo->pdo_index, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
591 |
pdo->pdo_subindex, |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
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diff
changeset
|
592 |
pdo->data_ptr)) |
98
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|
593 |
return -1; |
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diff
changeset
|
594 |
|
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changeset
|
595 |
return 0; |
f564d0929292
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changeset
|
596 |
} |
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parents:
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diff
changeset
|
597 |
|
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diff
changeset
|
598 |
/*****************************************************************************/ |
f564d0929292
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diff
changeset
|
599 |
|
f564d0929292
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changeset
|
600 |
/** |
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
410
diff
changeset
|
601 |
Registers a PDO range in a domain. |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
602 |
- If \a data_ptr is NULL, the slave is only validated. |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
603 |
\return pointer to the slave on success, else NULL |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
604 |
\ingroup RealtimeInterface |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
605 |
*/ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
606 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
607 |
ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
608 |
/**< EtherCAT domain */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
609 |
const char *address, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
610 |
/**< ASCII address of the slave, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
611 |
see ecrt_master_get_slave() */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
612 |
uint32_t vendor_id, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
613 |
/**< vendor ID */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
614 |
uint32_t product_code, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
615 |
/**< product code */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
616 |
ec_direction_t direction, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
617 |
/**< data direction */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
618 |
uint16_t offset, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
619 |
/**< offset in slave's PDO range */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
620 |
uint16_t length, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
621 |
/**< length of this range */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
622 |
void **data_ptr |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
623 |
/**< address of the process data |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
624 |
pointer */ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
625 |
) |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
626 |
{ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
627 |
ec_slave_t *slave; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
628 |
ec_master_t *master; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
629 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
630 |
master = domain->master; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
631 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
632 |
// translate address and validate slave |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
633 |
if (!(slave = ecrt_master_get_slave(master, address))) return NULL; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
634 |
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
635 |
|
446 | 636 |
if (!data_ptr) return slave; |
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
637 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
638 |
if (ec_domain_reg_pdo_range(domain, slave, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
639 |
direction, offset, length, data_ptr)) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
640 |
return NULL; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
641 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
642 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
643 |
return slave; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
644 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
645 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
646 |
/*****************************************************************************/ |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
647 |
|
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
410
diff
changeset
|
648 |
/** |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
315
diff
changeset
|
649 |
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
|
650 |
\ingroup RealtimeInterface |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
651 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
652 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
653 |
void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */) |
98
f564d0929292
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diff
changeset
|
654 |
{ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
655 |
unsigned int working_counter_sum; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
656 |
ec_datagram_t *datagram; |
98
f564d0929292
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diff
changeset
|
657 |
|
f564d0929292
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parents:
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diff
changeset
|
658 |
working_counter_sum = 0; |
363
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents:
353
diff
changeset
|
659 |
domain->state = 0; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
660 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
661 |
if (datagram->state == EC_DATAGRAM_RECEIVED) { |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
662 |
working_counter_sum += datagram->working_counter; |
98
f564d0929292
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parents:
97
diff
changeset
|
663 |
} |
363
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents:
353
diff
changeset
|
664 |
else { |
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents:
353
diff
changeset
|
665 |
domain->state = -1; |
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents:
353
diff
changeset
|
666 |
} |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
667 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
668 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
669 |
if (working_counter_sum != domain->response_count) { |
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
670 |
domain->working_counter_changes++; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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671 |
domain->response_count = working_counter_sum; |
332
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|
672 |
} |
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|
673 |
|
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|
674 |
if (domain->working_counter_changes && |
344
5d8281f1aa2a
Replaced longer cycle timestamps with jiffies.
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675 |
jiffies - domain->notify_jiffies > HZ) { |
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|
676 |
domain->notify_jiffies = jiffies; |
332
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677 |
if (domain->working_counter_changes == 1) { |
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|
678 |
EC_INFO("Domain %i working counter change: %i\n", domain->index, |
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|
679 |
domain->response_count); |
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|
680 |
} |
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|
681 |
else { |
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|
682 |
EC_INFO("Domain %i: %u WC changes. Current response count: %i\n", |
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|
683 |
domain->index, domain->working_counter_changes, |
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|
684 |
domain->response_count); |
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changeset
|
685 |
} |
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|
686 |
domain->working_counter_changes = 0; |
325
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|
687 |
} |
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|
688 |
|
446 | 689 |
ec_domain_queue_datagrams(domain); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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58
diff
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|
690 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
58
diff
changeset
|
691 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
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diff
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|
692 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
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diff
changeset
|
693 |
|
105
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
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diff
changeset
|
694 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
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diff
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|
695 |
Returns the state of a domain. |
293
14aeb79aa992
Renamed command structure to datagram.
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|
696 |
\return 0 if all datagrams were received, else -1. |
199
04ecf40fc2e9
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|
697 |
\ingroup RealtimeInterface |
195
674071846ee3
Translated all comments and documentation to english language.
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diff
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|
698 |
*/ |
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Translated all comments and documentation to english language.
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diff
changeset
|
699 |
|
325
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VERSION 1.1: New realtime interface, only state machines.
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|
700 |
int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */) |
105
fad6709a526f
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diff
changeset
|
701 |
{ |
363
58588a3a1562
Bugfix: ecrt_domain_state() always returned -1.
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diff
changeset
|
702 |
return domain->state; |
105
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
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parents:
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diff
changeset
|
703 |
} |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
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parents:
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diff
changeset
|
704 |
|
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
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parents:
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diff
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|
705 |
/*****************************************************************************/ |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
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parents:
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diff
changeset
|
706 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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diff
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|
707 |
/** \cond */ |
04ecf40fc2e9
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|
708 |
|
325
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VERSION 1.1: New realtime interface, only state machines.
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|
709 |
EXPORT_SYMBOL(ecrt_domain_register_pdo); |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
changeset
|
710 |
EXPORT_SYMBOL(ecrt_domain_register_pdo_list); |
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
410
diff
changeset
|
711 |
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
|
712 |
EXPORT_SYMBOL(ecrt_domain_process); |
105
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
713 |
EXPORT_SYMBOL(ecrt_domain_state); |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
714 |
|
199
04ecf40fc2e9
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diff
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|
715 |
/** \endcond */ |
04ecf40fc2e9
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diff
changeset
|
716 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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parents:
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diff
changeset
|
717 |
/*****************************************************************************/ |