1

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

     2

 *

     3

 *  d o m a i n . c

     4

 *

     5

 *  Methoden für Gruppen von EtherCAT-Slaves.

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

    11

#include "globals.h"

    12

#include "domain.h"

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#include "master.h"

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

    16

    17

void ec_domain_clear_field_regs(ec_domain_t *);

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

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    20

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

    21

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static struct attribute attr_data_size = {

    23

    .name = "data_size",

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    .owner = THIS_MODULE,

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    .mode = S_IRUGO

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};

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static struct attribute *def_attrs[] = {

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    &attr_data_size,

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    NULL,

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};

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    33

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

    45

    46

/**

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   Konstruktor einer EtherCAT-Domäne.

    48

*/

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

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                   ec_master_t *master, /**< Zugehöriger Master */

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                   unsigned int index /**< Domänen-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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    INIT_LIST_HEAD(&domain->field_regs);

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    INIT_LIST_HEAD(&domain->commands);

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    // Init kobject and add it to the hierarchy

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    memset(&domain->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&domain->kobj);

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    domain->kobj.ktype = &ktype_ec_domain;

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    domain->kobj.parent = &master->kobj;

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    if (kobject_set_name(&domain->kobj, "domain%i", index)) {

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        EC_ERR("Failed to set kobj name.\n");

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        return -1;

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    }

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    return 0;

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}

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

    78

    79

/**

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   Destruktor einer EtherCAT-Domäne.

    81

*/

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void ec_domain_clear(struct kobject *kobj /**< Kobject der Domäne */)

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{

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    ec_command_t *command, *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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    EC_INFO("Clearing domain %i.\n", domain->index);

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

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        ec_command_clear(command);

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        kfree(command);

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    }

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    ec_domain_clear_field_regs(domain);

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    kfree(domain);

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}

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

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   104

/**

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   Registriert ein Feld in einer Domäne.

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   \return 0 bei Erfolg, < 0 bei Fehler

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*/

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

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                        ec_slave_t *slave, /**< Slave */

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

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

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

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                        )

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{

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    ec_field_reg_t *field_reg;

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    if (!(field_reg =

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

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

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        return -1;

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    }

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

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

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        kfree(field_reg);

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        return -1;

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    }

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    field_reg->slave = slave;

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    field_reg->sync = sync;

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    field_reg->field_offset = field_offset;

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    field_reg->data_ptr = data_ptr;

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

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    return 0;

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}

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

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/**

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   Gibt die Liste der registrierten Datenfelder frei.

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*/

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void ec_domain_clear_field_regs(ec_domain_t *domain)

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{

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    ec_field_reg_t *field_reg, *next;

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

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        list_del(&field_reg->list);

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        kfree(field_reg);

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    }

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}

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

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/**

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   Alloziert ein Prozessdatenkommando und fügt es in die Liste ein.

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*/

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

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                          uint32_t offset, /**< Logisches Offset */

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

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                          )

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{

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    ec_command_t *command;

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

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

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        return -1;

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    }

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    ec_command_init(command);

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

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        kfree(command);

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        return -1;

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    }

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

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    return 0;

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}

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

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/**

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   Erzeugt eine Domäne.

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   Reserviert den Speicher einer Domäne, berechnet die logischen Adressen der

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   FMMUs und setzt die Prozessdatenzeiger der registrierten Felder.

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   \return 0 bei Erfolg, < 0 bei Fehler

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*/

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

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                    uint32_t base_address /**< Logische Basisadresse */

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                    )

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{

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    ec_field_reg_t *field_reg;

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    ec_slave_t *slave;

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    ec_fmmu_t *fmmu;

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    unsigned int i, j, cmd_count;

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    uint32_t field_off, field_off_cmd;

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    uint32_t cmd_offset;

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    size_t cmd_data_size;

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    ec_command_t *command;

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    domain->base_address = base_address;

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    // Größe der Prozessdaten berechnen und Kommandos allozieren

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    domain->data_size = 0;

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    cmd_offset = base_address;

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    cmd_data_size = 0;

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    cmd_count = 0;

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

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

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                    if (ec_domain_add_command(domain, cmd_offset,

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                                              cmd_data_size)) return -1;

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                    cmd_offset += cmd_data_size;

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                    cmd_data_size = 0;

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                    cmd_count++;

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                }

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                cmd_data_size += fmmu->sync->size;

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            }

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        }

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    }

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    // Letztes Kommando allozieren

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    if (cmd_data_size) {

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        if (ec_domain_add_command(domain, cmd_offset, cmd_data_size))

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            return -1;

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        cmd_count++;

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    }

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    if (!cmd_count) {

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

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        ec_domain_clear_field_regs(domain);

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        return 0;

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    }

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    // Alle Prozessdatenzeiger setzen

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

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

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

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

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                field_off = fmmu->logical_start_address +

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                    field_reg->field_offset;

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                // Kommando suchen

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

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                    field_off_cmd = field_off - command->address.logical;

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

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                        field_off_cmd < command->mem_size) {

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

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                    }

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                }

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                if (!field_reg->data_ptr) {

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

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                    return -1;

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                }

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                break;

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            }

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        }

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    }

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

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            domain->index, domain->data_size, cmd_count,

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

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    ec_domain_clear_field_regs(domain);

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    return 0;

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}

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

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/**

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   Gibt die Anzahl der antwortenden Slaves aus.

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*/

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

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                              unsigned int count /**< Neue Anzahl */

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                              )

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{

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    if (count != domain->response_count) {

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        domain->response_count = count;

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        EC_INFO("Domain %i working counter change: %i\n", domain->index, count);

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    }

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}

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

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/**

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   Formatiert Attribut-Daten für lesenden Zugriff im SysFS

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   \return Anzahl Bytes im Speicher

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*/

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

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

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                                 char *buffer /**< Speicher für die Daten */

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                                 )

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{

   309

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

   310

   311

    if (attr == &attr_data_size) {

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

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    }

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    return 0;

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}

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   318

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

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 *

   320

 * Echtzeitschnittstelle

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 *

   322

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

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   324

/**

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   Registriert ein Datenfeld innerhalb einer Domäne.

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

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

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     soll.

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

   331

     auf ein entsprechend großes Array zeigt.

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   \return Zeiger auf den Slave bei Erfolg, sonst NULL

   334

*/

   335

   336

ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

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                                       /**< Domäne */

   338

                                       const char *address,

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                                       /**< ASCII-Addresse des Slaves,

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                                          siehe ecrt_master_get_slave() */

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                                       const char *vendor_name,

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                                       /**< Herstellername */

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                                       const char *product_name,

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                                       /**< Produktname */

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                                       void **data_ptr,

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                                       /**< Adresse des Zeigers auf die

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                                          Prozessdaten */

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                                       const char *field_name,

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                                       /**< Name des Datenfeldes */

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                                       unsigned int field_index,

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                                       /**< Gibt an, ab welchem Feld mit

   352

                                          Typ \a field_type gezählt

   353

                                          werden soll. */

   354

                                       unsigned int field_count

   355

                                       /**< Anzahl Felder selben Typs */

   356

                                       )

   357

{

   358

    ec_slave_t *slave;

   359

    const ec_slave_type_t *type;

   360

    ec_master_t *master;

   361

    const ec_sync_t *sync;

   362

    const ec_field_t *field;

   363

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

   364

    uint32_t field_offset;

   365

   366

    master = domain->master;

   367

   368

    // Adresse übersetzen

   369

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

   370

   371

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

   372

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

   373

               slave->ring_position);

   374

        return NULL;

   375

    }

   376

   377

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

   378

        strcmp(product_name, type->product_name)) {

   379

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

   380

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

   381

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

   382

        return NULL;

   383

    }

   384

   385

    if (!data_ptr) {

   386

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

   387

        slave->registered = 1;

   388

    }

   389

   390

    if (!field_count) field_count = 1;

   391

    orig_field_index = field_index;

   392

    orig_field_count = field_count;

   393

   394

    field_counter = 0;

   395

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

   396

        sync = type->sync_managers[i];

   397

        field_offset = 0;

   398

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

   399

            field = sync->fields[j];

   400

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

   401

                if (field_counter++ == field_index) {

   402

                    if (data_ptr)

   403

                        ec_domain_reg_field(domain, slave, sync, field_offset,

   404

                                            data_ptr++);

   405

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

   406

                    field_index++;

   407

                }

   408

            }

   409

            field_offset += field->size;

   410

        }

   411

    }

   412

   413

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

   414

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

   415

           product_name, field_name, orig_field_index, orig_field_count);

   416

    return NULL;

   417

}

   418

   419

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

   420

   421

/**

   422

   Registriert eine ganze Liste von Datenfeldern innerhalb einer Domäne.

   423

   424

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

   425

   426

   \return 0 bei Erfolg, sonst < 0

   427

*/

   428

   429

int ecrt_domain_register_field_list(ec_domain_t *domain,

   430

                                    /**< Domäne */

   431

                                    const ec_field_init_t *fields

   432

                                    /**< Array mit Datenfeldern */

   433

                                    )

   434

{

   435

    const ec_field_init_t *field;

   436

   437

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

   438

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

   439

                                        field->vendor_name,

   440

                                        field->product_name, field->data_ptr,

   441

                                        field->field_name, field->field_index,

   442

                                        field->field_count))

   443

            return -1;

   444

   445

    return 0;

   446

}

   447

   448

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

   449

   450

/**

   451

   Setzt Prozessdaten-Kommandos in die Warteschlange des Masters.

   452

*/

   453

   454

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

   455

{

   456

    ec_command_t *command;

   457

   458

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

   459

        ec_master_queue_command(domain->master, command);

   460

    }

   461

}

   462

   463

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

   464

   465

/**

   466

   Verarbeitet empfangene Prozessdaten.

   467

*/

   468

   469

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

   470

{

   471

    unsigned int working_counter_sum;

   472

    ec_command_t *command;

   473

   474

    working_counter_sum = 0;

   475

   476

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

   477

        if (command->state == EC_CMD_RECEIVED) {

   478

            working_counter_sum += command->working_counter;

   479

        }

   480

    }

   481

   482

    ec_domain_response_count(domain, working_counter_sum);

   483

}

   484

   485

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

   486

   487

/**

   488

   Gibt den Status einer Domäne zurück.

   489

   490

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