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

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 *

     3

 *  $Id$

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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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    43

#include "globals.h"

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#include "master.h"

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#include "slave_config.h"

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#include "domain.h"

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    49

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

    50

    51

void ec_domain_clear(struct kobject *);

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void ec_domain_clear_data(ec_domain_t *);

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

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    55

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

    56

    57

/** Working counter increment values for logical read/write operations.

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 *

    59

 * \attention This is indexed by ec_direction_t.

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 */

    61

static const unsigned int working_counter_increment[] = {2, 1};

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    63

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

    64

    65

/** \cond */

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    67

EC_SYSFS_READ_ATTR(image_size);

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    69

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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    74

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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    79

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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    85

/** \endcond */

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    87

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

    88

    89

/** Domain constructor.

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 *

    91

 * \return 0 in case of success, else < 0

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 */

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int ec_domain_init(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        ec_master_t *master, /**< Parent master. */

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        unsigned int index /**< 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->expected_working_counter = 0x0000;

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    domain->data = NULL;

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    domain->data_origin = EC_ORIG_INTERNAL;

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    domain->logical_base_address = 0L;

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    domain->working_counter = 0xFFFF;

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    domain->working_counter_changes = 0;

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    domain->notify_jiffies = 0;

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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%u", 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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   128

    return 0;

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}

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   131

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

   132

   133

/** Domain destructor.

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 *

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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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/** Clear and free domain.

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 *

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 * This method is called by the kobject, once there are no more references

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 * 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_domain_t *domain;

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    ec_datagram_t *datagram, *next;

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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(domain);

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    kfree(domain);

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}

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

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   178

/** Frees internally allocated memory.

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 */

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void ec_domain_clear_data(

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        ec_domain_t *domain /**< EtherCAT domain. */

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        )

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{

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    if (domain->data_origin == EC_ORIG_INTERNAL && domain->data)

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        kfree(domain->data);

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    domain->data = NULL;

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    domain->data_origin = EC_ORIG_INTERNAL;

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}

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

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   192

/** Adds an FMMU configuration to the domain.

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 */

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void ec_domain_add_fmmu_config(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        ec_fmmu_config_t *fmmu /**< FMMU configuration. */

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        )

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{

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    unsigned int wc_increment;

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    fmmu->domain = domain;

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    domain->data_size += fmmu->data_size;

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    wc_increment = working_counter_increment[fmmu->dir];

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    domain->expected_working_counter += wc_increment;

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    if (domain->master->debug_level)

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        EC_DBG("Domain %u: Added %u bytes (now %u) with dir %u -> WC %u"

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                " (now %u).\n", domain->index, fmmu->data_size,

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                domain->data_size, fmmu->dir, wc_increment,

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                domain->expected_working_counter);

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}

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

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/** Allocates a domain datagram and appends it to the list.

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 *

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 * \return 0 in case of success, else < 0

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 */

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int ec_domain_add_datagram(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        uint32_t logical_offset, /**< Logical offset. */

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        size_t data_size, /**< Size of the data. */

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        uint8_t *data, /**< Process data. */

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        const unsigned int used[] /**< Used by inputs/outputs. */

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        )

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{

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    ec_datagram_t *datagram;

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   229

    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {

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

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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, logical_offset);

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   238

    if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs

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        if (ec_datagram_lrw(datagram, logical_offset, data_size, data)) {

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            kfree(datagram);

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            return -1;

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        }

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    } else if (used[EC_DIR_OUTPUT]) { // outputs only

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        if (ec_datagram_lwr(datagram, logical_offset, data_size, data)) {

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            kfree(datagram);

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            return -1;

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        }

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    } else { // inputs only (or nothing)

   249

        if (ec_datagram_lrd(datagram, logical_offset, data_size, data)) {

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            kfree(datagram);

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            return -1;

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        }

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    }

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    list_add_tail(&datagram->list, &domain->datagrams);

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    return 0;

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}

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

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   261

/** Finishes a domain.

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 *

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 * This allocates the necessary datagrams and writes the correct logical

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 * addresses to every configured FMMU.

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 *

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 * \todo Check for FMMUs that do not fit into any datagram.

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 *

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 * \retval 0 in case of success

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 * \retval <0 on failure.

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 */

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int ec_domain_finish(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        uint32_t base_address /**< Logical base address. */

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        )

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{

   276

    uint32_t datagram_offset;

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    size_t datagram_size;

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    unsigned int datagram_count, i;

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    unsigned int datagram_used[2];

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    ec_slave_config_t *sc;

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    ec_fmmu_config_t *fmmu;

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    const ec_datagram_t *datagram;

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    domain->logical_base_address = base_address;

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   286

    if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {

   287

        if (!(domain->data =

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                    (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {

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            EC_ERR("Failed to allocate %u bytes internal memory for"

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                    " domain %u!\n", domain->data_size, domain->index);

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            return -1;

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        }

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    }

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    // Cycle through all domain FMMUS, correct the logical base addresses and

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    // set up the datagrams to carry the process data.

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    datagram_offset = 0;

   298

    datagram_size = 0;

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    datagram_count = 0;

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    datagram_used[EC_DIR_OUTPUT] = 0;

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    datagram_used[EC_DIR_INPUT] = 0;

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   303

    list_for_each_entry(sc, &domain->master->configs, list) {

   304

        for (i = 0; i < sc->used_fmmus; i++) {

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            fmmu = &sc->fmmu_configs[i];

   306

            if (fmmu->domain != domain)

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                continue;

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   309

            // Correct logical FMMU address

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            fmmu->logical_start_address += base_address;

   311

   312

            // Increment Input/Output counter

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            datagram_used[fmmu->dir]++;

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   315

            // If the current FMMU's data do not fit in the current datagram,

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            // allocate a new one.

   317

            if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) {

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                if (ec_domain_add_datagram(domain,

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                            domain->logical_base_address + datagram_offset,

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                            datagram_size, domain->data + datagram_offset,

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                            datagram_used))

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                    return -1;

   323

                datagram_offset += datagram_size;

   324

                datagram_size = 0;

   325

                datagram_count++;

   326

                datagram_used[EC_DIR_OUTPUT] = 0;

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                datagram_used[EC_DIR_INPUT] = 0;

   328

            }

   329

   330

            datagram_size += fmmu->data_size;

   331

        }

   332

    }

   333

   334

    // allocate last datagram, if data are left

   335

    if (datagram_size) {

   336

        if (ec_domain_add_datagram(domain,

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                    domain->logical_base_address + datagram_offset,

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                    datagram_size, domain->data + datagram_offset,

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                    datagram_used))

   340

            return -1;

   341

        datagram_count++;

   342

    }

   343

   344

    EC_INFO("Domain %u with logical offset %u contains %u bytes.\n",

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            domain->index, domain->logical_base_address, domain->data_size);

   346

    list_for_each_entry(datagram, &domain->datagrams, list) {

   347

        EC_INFO("  Datagram %s, logical offset %u, size %u, type %s.\n",

   348

                datagram->name, EC_READ_U32(datagram->address),

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                datagram->data_size, ec_datagram_type_string(datagram));

   350

    }

   351

   352

    return 0;

   353

}

   354

   355

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

   356

   357

/**

   358

   Formats attribute data for SysFS reading.

   359

   \return number of bytes to read

   360

*/

   361

   362

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

   363

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

   364

                                 char *buffer /**< memory to store data in */

   365

                                 )

   366

{

   367

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

   368

   369

    if (attr == &attr_image_size) {

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

   371

    }

   372

   373

    return 0;

   374

}

   375

   376

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

   377

 *  Realtime interface

   378

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

   379

   380

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,

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        const ec_pdo_entry_reg_t *regs)

   382

{

   383

    const ec_pdo_entry_reg_t *reg;

   384

    ec_slave_config_t *sc;

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    int ret;

   386

   387

    for (reg = regs; reg->index; reg++) {

   388

        if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,

   389

                        reg->position, reg->vendor_id, reg->product_code)))

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            return -1;

   391

   392

        if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,

   393

                        reg->subindex, domain, reg->bit_position)) < 0)

   394

            return -1;

   395

   396

        *reg->offset = ret;

   397

    }

   398

   399

    return 0;

   400

}

   401

   402

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

   403

   404

size_t ecrt_domain_size(ec_domain_t *domain)

   405

{

   406

    return domain->data_size;

   407

}

   408

   409

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

   410

   411

void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)

   412

{

   413

    ec_domain_clear_data(domain);

   414

   415

    domain->data = mem;

   416

    domain->data_origin = EC_ORIG_EXTERNAL;

   417

}

   418

   419

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

   420

   421

uint8_t *ecrt_domain_data(ec_domain_t *domain)

   422

{

   423

    return domain->data;

   424

}

   425

   426

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

   427

   428

void ecrt_domain_process(ec_domain_t *domain)

   429

{

   430

    unsigned int working_counter_sum;

   431

    ec_datagram_t *datagram;

   432

   433

    working_counter_sum = 0;

   434

    list_for_each_entry(datagram, &domain->datagrams, list) {

   435

        ec_datagram_output_stats(datagram);

   436

        if (datagram->state == EC_DATAGRAM_RECEIVED) {

   437

            working_counter_sum += datagram->working_counter;

   438

        }

   439

    }

   440

   441

    if (working_counter_sum != domain->working_counter) {

   442

        domain->working_counter_changes++;

   443

        domain->working_counter = working_counter_sum;

   444

    }

   445

   446

    if (domain->working_counter_changes &&

   447

        jiffies - domain->notify_jiffies > HZ) {

   448

        domain->notify_jiffies = jiffies;

   449

        if (domain->working_counter_changes == 1) {

   450

            EC_INFO("Domain %u: Working counter changed to %u/%u.\n",

   451

                    domain->index, domain->working_counter,

   452

                    domain->expected_working_counter);

   453

        }

   454

        else {

   455

            EC_INFO("Domain %u: %u working counter changes. Currently %u/%u.\n",

   456

                    domain->index, domain->working_counter_changes,

   457

                    domain->working_counter, domain->expected_working_counter);

   458

        }

   459

        domain->working_counter_changes = 0;

   460

    }

   461

}

   462

   463

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

   464

   465

void ecrt_domain_queue(ec_domain_t *domain)

   466

{

   467

    ec_datagram_t *datagram;

   468

   469

    list_for_each_entry(datagram, &domain->datagrams, list) {

   470

        ec_master_queue_datagram(domain->master, datagram);

   471

    }

   472

}

   473

   474

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

   475

   476

void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)

   477

{

   478

    state->working_counter = domain->working_counter;

   479

   480

    if (domain->working_counter) {

   481

        if (domain->working_counter == domain->expected_working_counter) {

   482

            state->wc_state = EC_WC_COMPLETE;

   483

        } else {

   484

            state->wc_state = EC_WC_INCOMPLETE;

   485

        }

   486

    } else {

   487

        state->wc_state = EC_WC_ZERO;