master/domain.c
author Florian Pose <fp@igh-essen.com>
Mon, 24 Sep 2007 10:35:00 +0000
changeset 757 6210c4260899
parent 719 03d5b96632fb
child 782 9964e7be79ce
permissions -rw-r--r--
Added Doxyfile to configuration files.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT domain methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "globals.h"
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#include "domain.h"
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#include "master.h"
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/*****************************************************************************/
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/**
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   Data registration type.
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*/
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typedef struct
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{
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    struct list_head list; /**< list item */
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    ec_slave_t *slave; /**< slave */
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    const ec_sync_t *sync; /**< sync manager */
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    off_t sync_offset; /**< pdo offset */
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    void **data_ptr; /**< pointer to process data pointer(s) */
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}
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ec_data_reg_t;
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/*****************************************************************************/
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void ec_domain_clear(struct kobject *);
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void ec_domain_clear_data_regs(ec_domain_t *);
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ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(image_size);
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static struct attribute *def_attrs[] = {
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    &attr_image_size,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = &ec_show_domain_attribute,
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    .store = NULL
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};
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static struct kobj_type ktype_ec_domain = {
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    .release = ec_domain_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Domain constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */
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                   ec_master_t *master, /**< owning master */
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                   unsigned int index /**< domain index */
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                   )
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{
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    domain->master = master;
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    domain->index = index;
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    domain->data_size = 0;
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    domain->base_address = 0;
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    domain->response_count = 0xFFFFFFFF;
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    domain->notify_jiffies = 0;
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    domain->working_counter_changes = 0;
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    INIT_LIST_HEAD(&domain->data_regs);
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    INIT_LIST_HEAD(&domain->datagrams);
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    // init kobject and add it to the hierarchy
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    memset(&domain->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&domain->kobj);
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    domain->kobj.ktype = &ktype_ec_domain;
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    domain->kobj.parent = &master->kobj;
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    if (kobject_set_name(&domain->kobj, "domain%i", index)) {
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        EC_ERR("Failed to set kobj name.\n");
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        kobject_put(&domain->kobj);
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        return -1;
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    }
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    if (kobject_add(&domain->kobj)) {
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        EC_ERR("Failed to add domain kobject.\n");
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        kobject_put(&domain->kobj);
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Domain destructor.
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   Clears and frees a domain object.
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*/
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void ec_domain_destroy(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_datagram_t *datagram;
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    // dequeue datagrams
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    list_for_each_entry(datagram, &domain->datagrams, list) {
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        if (!list_empty(&datagram->queue)) // datagram queued?
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            list_del_init(&datagram->queue);
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    }
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    // destroy self
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    kobject_del(&domain->kobj);
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    kobject_put(&domain->kobj);
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}
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/*****************************************************************************/
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/**
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   Clear and free domain.
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   This method is called by the kobject,
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   once there are no more references to it.
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*/
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void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
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{
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    ec_datagram_t *datagram, *next;
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    ec_domain_t *domain;
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    domain = container_of(kobj, ec_domain_t, kobj);
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    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
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        ec_datagram_clear(datagram);
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        kfree(datagram);
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    }
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    ec_domain_clear_data_regs(domain);
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    kfree(domain);
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}
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/*****************************************************************************/
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/**
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 * Registers a PDO entry.
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 * \return 0 in case of success, else < 0
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 */
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int ec_domain_reg_pdo_entry(
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        ec_domain_t *domain, /**< EtherCAT domain */
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        ec_sync_t *sync, /**< sync manager */
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        const ec_pdo_entry_t *entry, /**< PDO entry to register */
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        void **data_ptr /**< pointer to the process data pointer */
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        )
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{
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    ec_data_reg_t *data_reg;
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    const ec_pdo_t *other_pdo;
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    const ec_pdo_entry_t *other_entry;
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    unsigned int bit_offset, byte_offset;
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    // Calculate offset (in sync manager) for process data pointer
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    bit_offset = 0;
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    byte_offset = 0;
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    list_for_each_entry(other_pdo, &sync->pdos, list) {
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        list_for_each_entry(other_entry, &other_pdo->entries, list) {
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            if (other_entry == entry) {
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                byte_offset = bit_offset / 8;
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                break;
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            }
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            bit_offset += other_entry->bit_length;
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        }
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    }
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    // Allocate memory for data registration object
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    if (!(data_reg =
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          (ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate data registration.\n");
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        return -1;
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    }
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    if (ec_slave_prepare_fmmu(sync->slave, domain, sync)) {
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        EC_ERR("FMMU configuration failed.\n");
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        kfree(data_reg);
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        return -1;
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    }
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    data_reg->slave = sync->slave;
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    data_reg->sync = sync;
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    data_reg->sync_offset = byte_offset;
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    data_reg->data_ptr = data_ptr;
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    list_add_tail(&data_reg->list, &domain->data_regs);
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Clears the list of the data registrations.
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*/
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void ec_domain_clear_data_regs(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_data_reg_t *data_reg, *next;
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    list_for_each_entry_safe(data_reg, next, &domain->data_regs, list) {
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        list_del(&data_reg->list);
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        kfree(data_reg);
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    }
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}
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/*****************************************************************************/
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/**
293
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   Allocates a process data datagram and appends it to the list.
195
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   \return 0 in case of success, else < 0
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*/
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293
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int ec_domain_add_datagram(ec_domain_t *domain, /**< EtherCAT domain */
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                           uint32_t offset, /**< logical offset */
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                           size_t data_size /**< size of the datagram data */
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                           )
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{
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    ec_datagram_t *datagram;
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    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate domain datagram!\n");
144
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        return -1;
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    }
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    ec_datagram_init(datagram);
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    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,
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            "domain%u-%u", domain->index, offset);
293
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    if (ec_datagram_lrw(datagram, offset, data_size)) {
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        kfree(datagram);
144
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        return -1;
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   278
    }
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    list_add_tail(&datagram->list, &domain->datagrams);
144
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   281
    return 0;
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   282
}
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/*****************************************************************************/
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   286
/**
195
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   Creates a domain.
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   Reserves domain memory, calculates the logical addresses of the
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   corresponding FMMUs and sets the process data pointer of the registered
325
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   process data.
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   \return 0 in case of success, else < 0
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*/
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int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
275
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                    uint32_t base_address /**< logical base address */
73
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                    )
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{
325
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    ec_data_reg_t *data_reg;
73
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    ec_slave_t *slave;
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    ec_fmmu_t *fmmu;
325
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    unsigned int i, j, datagram_count;
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    uint32_t pdo_off, pdo_off_datagram;
708
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    uint32_t datagram_offset, log_addr;
325
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    size_t datagram_data_size, sync_size;
293
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   305
    ec_datagram_t *datagram;
73
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    domain->base_address = base_address;
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diff changeset
   308
275
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    // calculate size of process data and allocate memory
73
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    domain->data_size = 0;
325
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    datagram_offset = base_address;
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    datagram_data_size = 0;
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   313
    datagram_count = 0;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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    list_for_each_entry(slave, &domain->master->slaves, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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        for (j = 0; j < slave->fmmu_count; j++) {
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            fmmu = &slave->fmmus[j];
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diff changeset
   317
            if (fmmu->domain == domain) {
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diff changeset
   318
                fmmu->logical_start_address = base_address + domain->data_size;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   319
                sync_size = ec_sync_size(fmmu->sync);
275
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                domain->data_size += sync_size;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   321
                if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   322
                    if (ec_domain_add_datagram(domain, datagram_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   323
                                               datagram_data_size)) return -1;
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   324
                    datagram_offset += datagram_data_size;
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   325
                    datagram_data_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   326
                    datagram_count++;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   327
                }
325
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diff changeset
   328
                datagram_data_size += sync_size;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   329
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   330
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   331
    }
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diff changeset
   332
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   333
    // allocate last datagram
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   334
    if (datagram_data_size) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   335
        if (ec_domain_add_datagram(domain, datagram_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   336
                                   datagram_data_size))
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   337
            return -1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   338
        datagram_count++;
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diff changeset
   339
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   340
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   341
    if (!datagram_count) {
178
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diff changeset
   342
        EC_WARN("Domain %i contains no data!\n", domain->index);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   343
        ec_domain_clear_data_regs(domain);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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   344
        return 0;
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diff changeset
   345
    }
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diff changeset
   346
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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   347
    // set all process data pointers
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   348
    list_for_each_entry(data_reg, &domain->data_regs, list) {
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diff changeset
   349
        for (i = 0; i < data_reg->slave->fmmu_count; i++) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   350
            fmmu = &data_reg->slave->fmmus[i];
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diff changeset
   351
            if (fmmu->domain == domain && fmmu->sync == data_reg->sync) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   352
                pdo_off = fmmu->logical_start_address + data_reg->sync_offset;
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   353
                // search datagram
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   354
                list_for_each_entry(datagram, &domain->datagrams, list) {
708
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 640
diff changeset
   355
                    log_addr = EC_READ_U32(datagram->address);
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 640
diff changeset
   356
                    pdo_off_datagram = pdo_off - log_addr;
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
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diff changeset
   357
                    if (pdo_off >= log_addr &&
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   358
                        pdo_off_datagram < datagram->mem_size) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   359
                        *data_reg->data_ptr = datagram->data +
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   360
                            pdo_off_datagram;
144
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diff changeset
   361
                    }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   362
                }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   363
                if (!data_reg->data_ptr) {
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   364
                    EC_ERR("Failed to assign data pointer!\n");
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   365
                    return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents: 138
diff changeset
   366
                }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   367
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   368
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   369
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   370
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   371
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 363
diff changeset
   372
    EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s.\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   373
            domain->index, domain->data_size, datagram_count,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   374
            datagram_count == 1 ? "" : "s");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   375
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   376
    ec_domain_clear_data_regs(domain);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   377
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   378
    return 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   379
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   380
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   381
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   382
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   383
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   384
   Formats attribute data for SysFS reading.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   385
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   386
*/
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   387
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   388
ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   389
                                 struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   390
                                 char *buffer /**< memory to store data in */
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   391
                                 )
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   392
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   393
    ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   394
315
119f967aead8 Renamed Sysfs attributes.
Florian Pose <fp@igh-essen.com>
parents: 294
diff changeset
   395
    if (attr == &attr_image_size) {
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   396
        return sprintf(buffer, "%i\n", domain->data_size);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   397
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   398
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   399
    return 0;
97
e6264685dd7b Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents: 96
diff changeset
   400
}
e6264685dd7b Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents: 96
diff changeset
   401
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   402
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   403
 *  Realtime interface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   404
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   405
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   406
/**
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   407
 * Registers a PDO for a domain.
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   408
 * \return 0 on success, else non-zero
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   409
 * \ingroup RealtimeInterface
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   410
 */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   411
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   412
int ecrt_domain_register_pdo(
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   413
        ec_domain_t *domain, /**< EtherCAT domain */
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   414
        ec_slave_t *slave, /**< EtherCAT slave */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   415
        uint16_t pdo_entry_index, /**< PDO entry index */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   416
        uint8_t pdo_entry_subindex, /**< PDO entry subindex */
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   417
        void **data_ptr /**< address of the process data pointer */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   418
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   419
{
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   420
    ec_sync_t *sync;
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   421
    const ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   422
    const ec_pdo_entry_t *entry;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   423
    unsigned int i;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   424
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   425
    // search for PDO entry
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   426
    for (i = 0; i < slave->sii_sync_count; i++) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   427
        sync = &slave->sii_syncs[i];
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   428
        list_for_each_entry(pdo, &sync->pdos, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   429
            list_for_each_entry(entry, &pdo->entries, list) {
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   430
                if (entry->index != pdo_entry_index ||
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   431
                        entry->subindex != pdo_entry_subindex) continue;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   432
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   433
                // PDO entry found
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   434
                if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) {
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   435
                    return -1;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   436
                }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   437
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   438
                return 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   439
            }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   440
        }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   441
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   442
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   443
    EC_ERR("PDO entry 0x%04X:%u is not mapped in slave %u.\n",
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   444
           pdo_entry_index, pdo_entry_subindex, slave->ring_position);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   445
    return -1;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   446
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   447
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   448
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   449
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   450
/**
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   451
 * Registers a bunch of data fields.
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   452
 * \attention The list has to be terminated with a NULL structure ({})!
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   453
 * \return 0 in case of success, else < 0
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   454
 * \ingroup RealtimeInterface
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   455
 */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   456
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   457
int ecrt_domain_register_pdo_list(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   458
        ec_domain_t *domain, /**< EtherCAT domain */
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   459
        const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   460
        )
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   461
{
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   462
    const ec_pdo_reg_t *reg;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   463
    ec_slave_t *slave;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   464
    
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   465
    for (reg = pdo_regs; reg->slave_address; reg++) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   466
        if (!(slave = ecrt_master_get_slave(domain->master,
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   467
                        reg->slave_address, reg->vendor_id,
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   468
                        reg->product_code)))
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   469
            return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   470
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   471
        if (ecrt_domain_register_pdo(domain, slave, reg->pdo_entry_index,
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   472
                    reg->pdo_entry_subindex, reg->data_ptr))
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   473
            return -1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   474
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   475
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   476
    return 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   477
}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   478
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   479
/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   480
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   481
/**
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   482
 * Registers a PDO range in a domain.
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   483
 * \return 0 on success, else non-zero
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   484
 * \ingroup RealtimeInterface
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   485
 */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   486
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   487
int ecrt_domain_register_pdo_range(
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   488
        ec_domain_t *domain, /**< EtherCAT domain */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   489
        ec_slave_t *slave, /**< EtherCAT slave */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   490
        ec_direction_t dir, /**< data direction */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   491
        uint16_t offset, /**< offset in slave's PDO range */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   492
        uint16_t length, /**< length of this range */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   493
        void **data_ptr /**< address of the process data pointer */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   494
        )
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   495
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   496
    ec_data_reg_t *data_reg;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   497
    ec_sync_t *sync;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   498
    uint16_t sync_length;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   499
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   500
    if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   501
        EC_ERR("No sync manager found for PDO range.\n");
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   502
        return -1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   503
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   504
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   505
    // Allocate memory for data registration object
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   506
    if (!(data_reg =
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   507
          (ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   508
        EC_ERR("Failed to allocate data registration.\n");
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   509
        return -1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   510
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   511
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   512
    if (ec_slave_prepare_fmmu(slave, domain, sync)) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   513
        EC_ERR("FMMU configuration failed.\n");
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   514
        kfree(data_reg);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   515
        return -1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   516
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   517
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   518
    data_reg->slave = slave;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   519
    data_reg->sync = sync;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   520
    data_reg->sync_offset = offset;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   521
    data_reg->data_ptr = data_ptr;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   522
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   523
    // estimate sync manager length
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   524
    sync_length = offset + length;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   525
    if (sync->est_length < sync_length) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   526
        sync->est_length = sync_length;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   527
        if (domain->master->debug_level) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   528
            EC_DBG("Estimating length of sync manager %i of slave %i to %i.\n",
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   529
                   sync->index, slave->ring_position, sync_length);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   530
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   531
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   532
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   533
    list_add_tail(&data_reg->list, &domain->data_regs);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   534
    return 0;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   535
}
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   536
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   537
/*****************************************************************************/
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   538
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   539
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   540
   Processes received process data and requeues the domain datagram(s).
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   541
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   542
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   543
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   544
void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   545
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   546
    unsigned int working_counter_sum;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   547
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   548
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   549
    working_counter_sum = 0;
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   550
    domain->state = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   551
    list_for_each_entry(datagram, &domain->datagrams, list) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   552
        ec_datagram_output_stats(datagram);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   553
        if (datagram->state == EC_DATAGRAM_RECEIVED) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   554
            working_counter_sum += datagram->working_counter;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   555
        }
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   556
        else {
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   557
            domain->state = -1;
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   558
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   559
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   560
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   561
    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
   562
        domain->working_counter_changes++;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   563
        domain->response_count = working_counter_sum;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   564
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   565
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   566
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   567
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   568
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   569
        if (domain->working_counter_changes == 1) {
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   570
            EC_INFO("Domain %i working counter change: %i\n", domain->index,
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   571
                    domain->response_count);
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   572
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   573
        else {
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   574
            EC_INFO("Domain %i: %u WC changes. Current response count: %i\n",
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   575
                    domain->index, domain->working_counter_changes,
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   576
                    domain->response_count);
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   577
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   578
        domain->working_counter_changes = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   579
    }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   580
}
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   581
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   582
/*****************************************************************************/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   583
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   584
/**
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   585
   Places all process data datagrams in the masters datagram queue.
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   586
   \ingroup RealtimeInterface
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   587
*/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   588
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   589
void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   590
{
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   591
    ec_datagram_t *datagram;
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   592
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   593
    list_for_each_entry(datagram, &domain->datagrams, list) {
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   594
        ec_master_queue_datagram(domain->master, datagram);
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   595
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   596
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   597
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   598
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   599
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   600
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   601
   Returns the state of a domain.
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   602
   \return 0 if all datagrams were received, else -1.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   603
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   604
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   605
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   606
int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   607
{
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   608
    return domain->state;
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   609
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   610
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   611
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   612
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   613
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   614
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   615
EXPORT_SYMBOL(ecrt_domain_register_pdo);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   616
EXPORT_SYMBOL(ecrt_domain_register_pdo_list);
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   617
EXPORT_SYMBOL(ecrt_domain_register_pdo_range);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   618
EXPORT_SYMBOL(ecrt_domain_process);
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   619
EXPORT_SYMBOL(ecrt_domain_queue);
105
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   620
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
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   621
199
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parents: 197
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   622
/** \endcond */
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   623
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   624
/*****************************************************************************/