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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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    43

#include "globals.h"

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#include "domain.h"

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#include "master.h"

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

    48

    49

/**

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   Data registration type.

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*/

    52

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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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    63

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

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    65

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

    70

    71

/** \cond */

    72

    73

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

    94

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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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   132

    return 0;

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}

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

   136

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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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   184

/**

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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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   233

    return 0;

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}

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

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   238

/**

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   Clears the list of the data registrations.

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*/

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   242

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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   254

/**

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   Allocates a process data datagram and appends it to the list.

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   \return 0 in case of success, else < 0

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*/

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   259

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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{

   264

    ec_datagram_t *datagram;

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   266

    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, offset);

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    if (ec_datagram_lrw(datagram, offset, data_size)) {

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        kfree(datagram);

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        return -1;

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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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/**

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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

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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 */

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                    uint32_t base_address /**< logical base address */

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                    )

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{

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    ec_data_reg_t *data_reg;

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    ec_slave_t *slave;

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    ec_fmmu_t *fmmu;

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    unsigned int i, j, datagram_count;

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    uint32_t pdo_off, pdo_off_datagram;

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    uint32_t datagram_offset, log_addr;

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    size_t datagram_data_size, sync_size;

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    ec_datagram_t *datagram;

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   307

    domain->base_address = base_address;

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   309

    // calculate size of process data and allocate memory

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    domain->data_size = 0;

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    datagram_offset = base_address;

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    datagram_data_size = 0;

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    datagram_count = 0;

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

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

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            fmmu = &slave->fmmus[j];

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            if (fmmu->domain == domain) {

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

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                sync_size = ec_sync_size(fmmu->sync);

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                domain->data_size += sync_size;

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                if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {

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                    if (ec_domain_add_datagram(domain, datagram_offset,

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                                               datagram_data_size)) return -1;

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                    datagram_offset += datagram_data_size;

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                    datagram_data_size = 0;

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                    datagram_count++;

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                }

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                datagram_data_size += sync_size;

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            }

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        }

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    }

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   333

    // allocate last datagram

   334

    if (datagram_data_size) {

   335

        if (ec_domain_add_datagram(domain, datagram_offset,

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                                   datagram_data_size))

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            return -1;

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        datagram_count++;

   339

    }

   340

   341

    if (!datagram_count) {

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

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        ec_domain_clear_data_regs(domain);

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        return 0;

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    }

   346

   347

    // set all process data pointers

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    list_for_each_entry(data_reg, &domain->data_regs, list) {

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

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

   351

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

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                pdo_off = fmmu->logical_start_address + data_reg->sync_offset;

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                // search datagram

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

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                    log_addr = EC_READ_U32(datagram->address);

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                    pdo_off_datagram = pdo_off - log_addr;

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                    if (pdo_off >= log_addr &&

   358

                        pdo_off_datagram < datagram->mem_size) {

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                        *data_reg->data_ptr = datagram->data +

   360

                            pdo_off_datagram;

   361

                    }

   362

                }

   363

                if (!data_reg->data_ptr) {

   364

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

   365

                    return -1;

   366

                }

   367

                break;

   368

            }

   369

        }

   370

    }

   371

   372

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

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            domain->index, domain->data_size, datagram_count,

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

   375

   376

    ec_domain_clear_data_regs(domain);

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   378

    return 0;

   379

}

   380

   381

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

   382

   383

/**

   384

   Formats attribute data for SysFS reading.

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   \return number of bytes to read

   386

*/

   387

   388

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

   389

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

   390

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

   391

                                 )

   392

{

   393

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

   394

   395

    if (attr == &attr_image_size) {

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

   397

    }

   398

   399

    return 0;

   400

}

   401

   402

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

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 *  Realtime interface

   404

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

   405

   406

/**

   407

 * Registers a PDO for a domain.

   408

 * \return 0 on success, else non-zero

   409

 * \ingroup RealtimeInterface

   410

 */

   411

   412

int ecrt_domain_register_pdo(

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

   414

        ec_slave_t *slave, /**< EtherCAT slave */

   415

        uint16_t pdo_entry_index, /**< PDO entry index */

   416

        uint8_t pdo_entry_subindex, /**< PDO entry subindex */

   417

        void **data_ptr /**< address of the process data pointer */

   418

        )

   419

{

   420

    ec_sync_t *sync;

   421

    const ec_pdo_t *pdo;

   422

    const ec_pdo_entry_t *entry;

   423

    unsigned int i;

   424

   425

    // search for PDO entry

   426

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

   427

        sync = &slave->sii_syncs[i];

   428

        list_for_each_entry(pdo, &sync->pdos, list) {

   429

            list_for_each_entry(entry, &pdo->entries, list) {

   430

                if (entry->index != pdo_entry_index ||

   431

                        entry->subindex != pdo_entry_subindex) continue;

   432

   433

                // PDO entry found

   434

                if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) {

   435

                    return -1;

   436

                }

   437

   438

                return 0;

   439

            }

   440

        }

   441

    }

   442

   443

    EC_ERR("PDO entry 0x%04X:%u is not mapped in slave %u.\n",

   444

           pdo_entry_index, pdo_entry_subindex, slave->ring_position);

   445

    return -1;

   446

}

   447

   448

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

   449

   450

/**

   451

 * Registers a bunch of data fields.

   452

 * \attention The list has to be terminated with a NULL structure ({})!

   453

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

   454

 * \ingroup RealtimeInterface

   455

 */

   456

   457

int ecrt_domain_register_pdo_list(

   458

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

   459

        const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */

   460

        )

   461

{

   462

    const ec_pdo_reg_t *reg;

   463

    ec_slave_t *slave;

   464

   465

    for (reg = pdo_regs; reg->slave_address; reg++) {

   466

        if (!(slave = ecrt_master_get_slave(domain->master,

   467

                        reg->slave_address, reg->vendor_id,

   468

                        reg->product_code)))

   469

            return -1;

   470

   471

        if (ecrt_domain_register_pdo(domain, slave, reg->pdo_entry_index,

   472

                    reg->pdo_entry_subindex, reg->data_ptr))

   473

            return -1;

   474

    }

   475

   476

    return 0;

   477

}

   478

   479

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

   480

   481

/**

   482

 * Registers a PDO range in a domain.

   483

 * \return 0 on success, else non-zero

   484

 * \ingroup RealtimeInterface

   485

 */

   486

   487

int ecrt_domain_register_pdo_range(

   488

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