master/domain.c
author Florian Pose <fp@igh-essen.com>
Fri, 13 Oct 2006 09:39:42 +0000
changeset 393 9cfbb344adc0
parent 377 ecac8252f114
child 404 7f7f429e13c7
permissions -rw-r--r--
Distribution makefile for examples.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT domain methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "globals.h"
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#include "domain.h"
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#include "master.h"
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/*****************************************************************************/
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/**
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   Data registration type.
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*/
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typedef struct
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{
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    struct list_head list; /**< list item */
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    ec_slave_t *slave; /**< slave */
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    const ec_sii_sync_t *sync; /**< sync manager */
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    off_t sync_offset; /**< pdo offset */
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    void **data_ptr; /**< pointer to process data pointer(s) */
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}
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ec_data_reg_t;
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/*****************************************************************************/
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void ec_domain_clear_data_regs(ec_domain_t *);
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ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(image_size);
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static struct attribute *def_attrs[] = {
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    &attr_image_size,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = &ec_show_domain_attribute,
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    .store = NULL
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};
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static struct kobj_type ktype_ec_domain = {
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    .release = ec_domain_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Domain constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */
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                   ec_master_t *master, /**< owning master */
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                   unsigned int index /**< domain index */
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                   )
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{
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    domain->master = master;
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    domain->index = index;
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    domain->data_size = 0;
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    domain->base_address = 0;
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    domain->response_count = 0xFFFFFFFF;
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    domain->notify_jiffies = 0;
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    domain->working_counter_changes = 0;
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    INIT_LIST_HEAD(&domain->data_regs);
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    INIT_LIST_HEAD(&domain->datagrams);
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    // init kobject and add it to the hierarchy
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    memset(&domain->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&domain->kobj);
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    domain->kobj.ktype = &ktype_ec_domain;
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    domain->kobj.parent = &master->kobj;
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    if (kobject_set_name(&domain->kobj, "domain%i", index)) {
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        EC_ERR("Failed to set kobj name.\n");
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Domain destructor.
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*/
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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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    EC_INFO("Clearing domain %i.\n", domain->index);
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    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
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        ec_datagram_clear(datagram);
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        kfree(datagram);
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    }
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    ec_domain_clear_data_regs(domain);
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    kfree(domain);
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}
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/*****************************************************************************/
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/**
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   Registeres 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(ec_domain_t *domain, /**< EtherCAT domain */
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                            ec_slave_t *slave, /**< slave */
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                            const ec_sii_pdo_t *pdo, /**< PDO */
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                            const ec_sii_pdo_entry_t *entry,
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                            /**< PDO registration entry */
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                            void **data_ptr /**< pointer to the process data
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                                               pointer */
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                            )
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{
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    ec_data_reg_t *data_reg;
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    const ec_sii_sync_t *sync;
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    const ec_sii_pdo_t *other_pdo;
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    const ec_sii_pdo_entry_t *other_entry;
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    unsigned int bit_offset, byte_offset, sync_found;
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    // Find sync manager for PDO
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    sync_found = 0;
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    list_for_each_entry(sync, &slave->sii_syncs, list) {
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        if (sync->index == pdo->sync_index) {
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            sync_found = 1;
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            break;
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        }
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    }
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    if (!sync_found) {
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        EC_ERR("No sync manager for PDO 0x%04X:%i.",
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               pdo->index, entry->subindex);
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        return -1;
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    }
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    // Calculate offset 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, &slave->sii_pdos, list) {
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        if (other_pdo->sync_index != sync->index) continue;
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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(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 = slave;
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    data_reg->sync = sync;
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    data_reg->sync_offset = byte_offset;
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    data_reg->data_ptr = data_ptr;
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    list_add_tail(&data_reg->list, &domain->data_regs);
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Clears the list of the data registrations.
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*/
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void ec_domain_clear_data_regs(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_data_reg_t *data_reg, *next;
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    list_for_each_entry_safe(data_reg, next, &domain->data_regs, list) {
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        list_del(&data_reg->list);
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        kfree(data_reg);
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    }
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}
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/*****************************************************************************/
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/**
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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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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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   253
                           )
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   254
{
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   255
    ec_datagram_t *datagram;
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   256
14aeb79aa992 Renamed command structure to datagram.
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   257
    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
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diff changeset
   258
        EC_ERR("Failed to allocate domain datagram!\n");
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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   259
        return -1;
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   260
    }
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   261
293
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diff changeset
   262
    ec_datagram_init(datagram);
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   263
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   264
    if (ec_datagram_lrw(datagram, offset, data_size)) {
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   265
        kfree(datagram);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   266
        return -1;
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diff changeset
   267
    }
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diff changeset
   268
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   269
    list_add_tail(&datagram->list, &domain->datagrams);
144
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diff changeset
   270
    return 0;
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diff changeset
   271
}
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   272
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   273
/*****************************************************************************/
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   274
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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   275
/**
195
674071846ee3 Translated all comments and documentation to english language.
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   276
   Creates a domain.
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   277
   Reserves domain memory, calculates the logical addresses of the
674071846ee3 Translated all comments and documentation to english language.
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   278
   corresponding FMMUs and sets the process data pointer of the registered
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   279
   process data.
195
674071846ee3 Translated all comments and documentation to english language.
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   280
   \return 0 in case of success, else < 0
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   281
*/
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   282
674071846ee3 Translated all comments and documentation to english language.
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   283
int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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   284
                    uint32_t base_address /**< logical base address */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   285
                    )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   286
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   287
    ec_data_reg_t *data_reg;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   288
    ec_slave_t *slave;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   289
    ec_fmmu_t *fmmu;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   290
    unsigned int i, j, datagram_count;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   291
    uint32_t pdo_off, pdo_off_datagram;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   292
    uint32_t datagram_offset;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   293
    size_t datagram_data_size, sync_size;
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   294
    ec_datagram_t *datagram;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   295
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   296
    domain->base_address = base_address;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   297
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   298
    // calculate size of process data and allocate memory
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   299
    domain->data_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   300
    datagram_offset = base_address;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   301
    datagram_data_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   302
    datagram_count = 0;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   303
    list_for_each_entry(slave, &domain->master->slaves, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   304
        for (j = 0; j < slave->fmmu_count; j++) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   305
            fmmu = &slave->fmmus[j];
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   306
            if (fmmu->domain == domain) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   307
                fmmu->logical_start_address = base_address + domain->data_size;
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   308
                sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   309
                domain->data_size += sync_size;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   310
                if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   311
                    if (ec_domain_add_datagram(domain, datagram_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   312
                                               datagram_data_size)) return -1;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   313
                    datagram_offset += datagram_data_size;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   314
                    datagram_data_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   315
                    datagram_count++;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   316
                }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
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diff changeset
   317
                datagram_data_size += sync_size;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   318
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   319
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   320
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   321
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   322
    // allocate last datagram
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   323
    if (datagram_data_size) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   324
        if (ec_domain_add_datagram(domain, datagram_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   325
                                   datagram_data_size))
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   326
            return -1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   327
        datagram_count++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   328
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   329
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   330
    if (!datagram_count) {
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
   331
        EC_WARN("Domain %i contains no data!\n", domain->index);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   332
        ec_domain_clear_data_regs(domain);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   333
        return 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   334
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   335
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   336
    // set all process data pointers
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   337
    list_for_each_entry(data_reg, &domain->data_regs, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   338
        for (i = 0; i < data_reg->slave->fmmu_count; i++) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   339
            fmmu = &data_reg->slave->fmmus[i];
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   340
            if (fmmu->domain == domain && fmmu->sync == data_reg->sync) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   341
                pdo_off = fmmu->logical_start_address + data_reg->sync_offset;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   342
                // search datagram
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   343
                list_for_each_entry(datagram, &domain->datagrams, list) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   344
                    pdo_off_datagram = pdo_off - datagram->address.logical;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   345
                    if (pdo_off >= datagram->address.logical &&
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   346
                        pdo_off_datagram < datagram->mem_size) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   347
                        *data_reg->data_ptr = datagram->data +
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   348
                            pdo_off_datagram;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   349
                    }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   350
                }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   351
                if (!data_reg->data_ptr) {
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   352
                    EC_ERR("Failed to assign data pointer!\n");
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   353
                    return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   354
                }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   355
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   356
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   357
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   358
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   359
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 363
diff changeset
   360
    EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s.\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   361
            domain->index, domain->data_size, datagram_count,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   362
            datagram_count == 1 ? "" : "s");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   363
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   364
    ec_domain_clear_data_regs(domain);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   365
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   366
    return 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   367
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   368
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   369
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   370
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   371
/**
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   372
   Places all process data datagrams in the masters datagram queue.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   373
*/
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   374
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void ec_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_datagram_t *datagram;
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   378
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    list_for_each_entry(datagram, &domain->datagrams, list) {
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   380
        ec_master_queue_datagram(domain->master, datagram);
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    }
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}
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/*****************************************************************************/
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   386
/**
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   Formats attribute data for SysFS reading.
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   \return number of bytes to read
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   389
*/
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   391
ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
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   392
                                 struct attribute *attr, /**< attribute */
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   393
                                 char *buffer /**< memory to store data in */
178
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   394
                                 )
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   395
{
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   396
    ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
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   397
315
119f967aead8 Renamed Sysfs attributes.
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diff changeset
   398
    if (attr == &attr_image_size) {
178
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   399
        return sprintf(buffer, "%i\n", domain->data_size);
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diff changeset
   400
    }
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diff changeset
   401
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diff changeset
   402
    return 0;
97
e6264685dd7b Link-Down-Verhalten verbessert.
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diff changeset
   403
}
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diff changeset
   404
73
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   405
/******************************************************************************
195
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   406
 *  Realtime interface
73
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diff changeset
   407
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   408
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   409
/**
325
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   410
   Registers a PDO in a domain.
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diff changeset
   411
   - If \a data_ptr is NULL, the slave is only validated.
195
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   412
   \return pointer to the slave on success, else NULL
199
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   413
   \ingroup RealtimeInterface
73
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diff changeset
   414
*/
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   415
325
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   416
ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
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   417
                                     /**< EtherCAT domain */
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   418
                                     const char *address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   419
                                     /**< ASCII address of the slave,
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   420
                                        see ecrt_master_get_slave() */
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   421
                                     uint32_t vendor_id,
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   422
                                     /**< vendor ID */
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                                     uint32_t product_code,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   424
                                     /**< product code */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   425
                                     uint16_t pdo_index,
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diff changeset
   426
                                     /**< PDO index */
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   427
                                     uint8_t pdo_subindex,
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diff changeset
   428
                                     /**< PDO subindex */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   429
                                     void **data_ptr
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   430
                                     /**< address of the process data
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   431
                                        pointer */
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diff changeset
   432
                                     )
73
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diff changeset
   433
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   434
    ec_slave_t *slave;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   435
    ec_master_t *master;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   436
    const ec_sii_pdo_t *pdo;
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diff changeset
   437
    const ec_sii_pdo_entry_t *entry;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   438
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parents: 58
diff changeset
   439
    master = domain->master;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   440
195
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diff changeset
   441
    // translate address
138
7e743a61a991 SDO-Schnittstelle verbessert.
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diff changeset
   442
    if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   443
325
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diff changeset
   444
    if (vendor_id != slave->sii_vendor_id ||
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   445
        product_code != slave->sii_product_code) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   446
        EC_ERR("Invalid slave type at position %i - Requested: 0x%08X 0x%08X,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   447
               " found: 0x%08X 0x%08X\".\n", slave->ring_position, vendor_id,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   448
               product_code, slave->sii_vendor_id, slave->sii_product_code);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   449
        return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   450
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   451
112
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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parents: 108
diff changeset
   452
    if (!data_ptr) {
195
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diff changeset
   453
        // data_ptr is NULL => mark slave as "registered" (do not warn)
112
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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parents: 108
diff changeset
   454
        slave->registered = 1;
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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parents: 108
diff changeset
   455
    }
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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parents: 108
diff changeset
   456
325
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diff changeset
   457
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   458
        list_for_each_entry(entry, &pdo->entries, list) {
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diff changeset
   459
            if (entry->index != pdo_index
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   460
                || entry->subindex != pdo_subindex) continue;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   461
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   462
            if (data_ptr) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   463
                ec_domain_reg_pdo_entry(domain, slave, pdo, entry, data_ptr);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   464
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   465
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   466
            return slave;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   467
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   468
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   469
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   470
    EC_ERR("Slave %i does not provide PDO 0x%04X:%i.\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   471
           slave->ring_position, pdo_index, pdo_subindex);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   472
    slave->registered = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   473
    return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   474
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff changeset
   475
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   476
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   477
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   478
/**
195
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parents: 184
diff changeset
   479
   Registeres a bunch of data fields.
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   480
   Caution! The list has to be terminated with a NULL structure ({})!
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diff changeset
   481
   \return 0 in case of success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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parents: 197
diff changeset
   482
   \ingroup RealtimeInterface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff changeset
   483
*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   484
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   485
int ecrt_domain_register_pdo_list(ec_domain_t *domain,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   486
                                  /**< EtherCAT domain */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   487
                                  const ec_pdo_reg_t *pdos
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   488
                                  /**< array of PDO registrations */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   489
                                  )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   490
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   491
    const ec_pdo_reg_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   492
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   493
    for (pdo = pdos; pdo->slave_address; pdo++)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   494
        if (!ecrt_domain_register_pdo(domain, pdo->slave_address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   495
                                      pdo->vendor_id,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   496
                                      pdo->product_code,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   497
                                      pdo->pdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   498
                                      pdo->pdo_subindex,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   499
                                      pdo->data_ptr))
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   500
            return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   501
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   502
    return 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   503
}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   504
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   505
/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   506
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   507
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   508
   Processes received process data and requeues the domain datagram(s).
199
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diff changeset
   509
   \ingroup RealtimeInterface
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parents: 184
diff changeset
   510
*/
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parents: 184
diff changeset
   511
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
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   512
void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   513
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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   514
    unsigned int working_counter_sum;
293
14aeb79aa992 Renamed command structure to datagram.
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   515
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   516
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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   517
    working_counter_sum = 0;
363
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diff changeset
   518
    domain->state = 0;
293
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parents: 275
diff changeset
   519
    list_for_each_entry(datagram, &domain->datagrams, list) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   520
        if (datagram->state == EC_DATAGRAM_RECEIVED) {
293
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diff changeset
   521
            working_counter_sum += datagram->working_counter;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   522
        }
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   523
        else {
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   524
            domain->state = -1;
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
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parents: 353
diff changeset
   525
        }
98
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diff changeset
   526
    }
73
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parents: 58
diff changeset
   527
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   528
    if (working_counter_sum != domain->response_count) {
332
e16093374dfd New statistic outputs to avoid blasting the logs.
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parents: 325
diff changeset
   529
        domain->working_counter_changes++;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   530
        domain->response_count = working_counter_sum;
332
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parents: 325
diff changeset
   531
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   532
e16093374dfd New statistic outputs to avoid blasting the logs.
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parents: 325
diff changeset
   533
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   534
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   535
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
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parents: 325
diff changeset
   536
        if (domain->working_counter_changes == 1) {
e16093374dfd New statistic outputs to avoid blasting the logs.
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parents: 325
diff changeset
   537
            EC_INFO("Domain %i working counter change: %i\n", domain->index,
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   538
                    domain->response_count);
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   539
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   540
        else {
e16093374dfd New statistic outputs to avoid blasting the logs.
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parents: 325
diff changeset
   541
            EC_INFO("Domain %i: %u WC changes. Current response count: %i\n",
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   542
                    domain->index, domain->working_counter_changes,
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   543
                    domain->response_count);
e16093374dfd New statistic outputs to avoid blasting the logs.
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parents: 325
diff changeset
   544
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
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parents: 325
diff changeset
   545
        domain->working_counter_changes = 0;
325
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parents: 315
diff changeset
   546
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   547
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 315
diff changeset
   548
    ec_domain_queue(domain);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   549
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   550
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   551
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   552
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   553
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   554
   Returns the state of a domain.
293
14aeb79aa992 Renamed command structure to datagram.
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parents: 275
diff changeset
   555
   \return 0 if all datagrams were received, else -1.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   556
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   557
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   558
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   559
int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   560
{
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   561
    return domain->state;
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   562
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   563
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   564
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   565
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   566
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   567
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   568
EXPORT_SYMBOL(ecrt_domain_register_pdo);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   569
EXPORT_SYMBOL(ecrt_domain_register_pdo_list);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   570
EXPORT_SYMBOL(ecrt_domain_process);
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   571
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   573
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   574
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   575
/*****************************************************************************/