1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT domain methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "globals.h"

    44

#include "domain.h"

    45

#include "master.h"

    46

    47

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

    48

    49

/**

    50

   Data registration type.

    51

*/

    52

    53

typedef struct

    54

{

    55

    struct list_head list; /**< list item */

    56

    ec_slave_t *slave; /**< slave */

    57

    const ec_sync_t *sync; /**< sync manager */

    58

    off_t sync_offset; /**< pdo offset */

    59

    void **data_ptr; /**< pointer to process data pointer(s) */

    60

}

    61

ec_data_reg_t;

    62

    63

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

    64

    65

void ec_domain_clear(struct kobject *);

    66

void ec_domain_clear_data_regs(ec_domain_t *);

    67

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

    68

    69

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

    70

    71

/** \cond */

    72

    73

EC_SYSFS_READ_ATTR(image_size);

    74

    75

static struct attribute *def_attrs[] = {

    76

    &attr_image_size,

    77

    NULL,

    78

};

    79

    80

static struct sysfs_ops sysfs_ops = {

    81

    .show = &ec_show_domain_attribute,

    82

    .store = NULL

    83

};

    84

    85

static struct kobj_type ktype_ec_domain = {

    86

    .release = ec_domain_clear,

    87

    .sysfs_ops = &sysfs_ops,

    88

    .default_attrs = def_attrs

    89

};

    90

    91

/** \endcond */

    92

    93

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

    94

    95

/**

    96

   Domain constructor.

    97

   \return 0 in case of success, else < 0

    98

*/

    99

   100

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

   101

                   ec_master_t *master, /**< owning master */

   102

                   unsigned int index /**< domain index */

   103

                   )

   104

{

   105

    domain->master = master;

   106

    domain->index = index;

   107

    domain->data_size = 0;

   108

    domain->base_address = 0;

   109

    domain->response_count = 0xFFFFFFFF;

   110

    domain->notify_jiffies = 0;

   111

    domain->working_counter_changes = 0;

   112

   113

    INIT_LIST_HEAD(&domain->data_regs);

   114

    INIT_LIST_HEAD(&domain->datagrams);

   115

   116

    // init kobject and add it to the hierarchy

   117

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

   118

    kobject_init(&domain->kobj);

   119

    domain->kobj.ktype = &ktype_ec_domain;

   120

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

   121

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

   122

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

   123

        kobject_put(&domain->kobj);

   124

        return -1;

   125

    }

   126

    if (kobject_add(&domain->kobj)) {

   127

        EC_ERR("Failed to add domain kobject.\n");

   128

        kobject_put(&domain->kobj);

   129

        return -1;

   130

    }

   131

   132

    return 0;

   133

}

   134

   135

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

   136

   137

/**

   138

   Domain destructor.

   139

   Clears and frees a domain object.

   140

*/

   141

   142

void ec_domain_destroy(ec_domain_t *domain /**< EtherCAT domain */)

   143

{

   144

    ec_datagram_t *datagram;

   145

   146

    // dequeue datagrams

   147

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

   148

        if (!list_empty(&datagram->queue)) // datagram queued?

   149

            list_del_init(&datagram->queue);

   150

    }

   151

   152

    // destroy self

   153

    kobject_del(&domain->kobj);

   154

    kobject_put(&domain->kobj);

   155

}

   156

   157

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

   158

   159

/**

   160

   Clear and free domain.

   161

   This method is called by the kobject,

   162

   once there are no more references to it.

   163

*/

   164

   165

void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)

   166

{

   167

    ec_datagram_t *datagram, *next;

   168

    ec_domain_t *domain;

   169

   170

    domain = container_of(kobj, ec_domain_t, kobj);

   171

   172

    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {

   173

        ec_datagram_clear(datagram);

   174

        kfree(datagram);

   175

    }

   176

   177

    ec_domain_clear_data_regs(domain);

   178

   179

    kfree(domain);

   180

}

   181

   182

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

   183

   184

/**

   185

 * Registers a PDO entry.

   186

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

   187

 */

   188

   189

int ec_domain_reg_pdo_entry(

   190

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

   191

        ec_sync_t *sync, /**< sync manager */

   192

        const ec_pdo_entry_t *entry, /**< PDO entry to register */

   193

        void **data_ptr /**< pointer to the process data pointer */

   194

        )

   195

{

   196

    ec_data_reg_t *data_reg;

   197

    const ec_pdo_t *other_pdo;

   198

    const ec_pdo_entry_t *other_entry;

   199

    unsigned int bit_offset, byte_offset;

   200

   201

    // Calculate offset (in sync manager) for process data pointer

   202

    bit_offset = 0;

   203

    byte_offset = 0;

   204

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

   205

        list_for_each_entry(other_entry, &other_pdo->entries, list) {

   206

            if (other_entry == entry) {

   207

                byte_offset = bit_offset / 8;

   208

                break;

   209

            }

   210

            bit_offset += other_entry->bit_length;

   211

        }

   212

    }

   213

   214

    // Allocate memory for data registration object

   215

    if (!(data_reg =

   216

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

   217

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

   218

        return -1;

   219

    }

   220

   221

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

   222

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

   223

        kfree(data_reg);

   224

        return -1;

   225

    }

   226

   227

    data_reg->slave = sync->slave;

   228

    data_reg->sync = sync;

   229

    data_reg->sync_offset = byte_offset;

   230

    data_reg->data_ptr = data_ptr;

   231

    list_add_tail(&data_reg->list, &domain->data_regs);

   232

   233

    return 0;

   234

}

   235

   236

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

   237

   238

/**

   239

   Clears the list of the data registrations.

   240

*/

   241

   242

void ec_domain_clear_data_regs(ec_domain_t *domain /**< EtherCAT domain */)

   243

{

   244

    ec_data_reg_t *data_reg, *next;

   245

   246

    list_for_each_entry_safe(data_reg, next, &domain->data_regs, list) {

   247

        list_del(&data_reg->list);

   248

        kfree(data_reg);

   249

    }

   250

}

   251

   252

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

   253

   254

/**

   255

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

   256

   \return 0 in case of success, else < 0

   257

*/

   258

   259

int ec_domain_add_datagram(ec_domain_t *domain, /**< EtherCAT domain */

   260

                           uint32_t offset, /**< logical offset */

   261

                           size_t data_size /**< size of the datagram data */

   262

                           )

   263

{

   264

    ec_datagram_t *datagram;

   265

   266

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

   267

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

   268

        return -1;

   269

    }

   270

   271

    ec_datagram_init(datagram);

   272

    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,

   273

            "domain%u-%u", domain->index, offset);

   274

   275

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

   276

        kfree(datagram);

   277

        return -1;

   278

    }

   279

   280

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

   281

    return 0;

   282

}

   283

   284

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

   285

   286

/**

   287

   Creates a domain.

   288

   Reserves domain memory, calculates the logical addresses of the

   289

   corresponding FMMUs and sets the process data pointer of the registered

   290

   process data.

   291

   \return 0 in case of success, else < 0

   292

*/

   293

   294

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

   295

                    uint32_t base_address /**< logical base address */

   296

                    )

   297

{

   298

    ec_data_reg_t *data_reg;

   299

    ec_slave_t *slave;

   300

    ec_fmmu_t *fmmu;

   301

    unsigned int i, j, datagram_count;

   302

    uint32_t pdo_off, pdo_off_datagram;

   303

    uint32_t datagram_offset, log_addr;

   304

    size_t datagram_data_size, sync_size;

   305

    ec_datagram_t *datagram;

   306

   307

    domain->base_address = base_address;

   308

   309

    // calculate size of process data and allocate memory

   310

    domain->data_size = 0;

   311

    datagram_offset = base_address;

   312

    datagram_data_size = 0;

   313

    datagram_count = 0;

   314

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

   315

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

   316

            fmmu = &slave->fmmus[j];

   317

            if (fmmu->domain == domain) {

   318

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

   319

                sync_size = ec_sync_size(fmmu->sync);

   320

                domain->data_size += sync_size;

   321

                if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {

   322

                    if (ec_domain_add_datagram(domain, datagram_offset,

   323

                                               datagram_data_size)) return -1;

   324

                    datagram_offset += datagram_data_size;

   325

                    datagram_data_size = 0;

   326

                    datagram_count++;

   327

                }

   328

                datagram_data_size += sync_size;

   329

            }

   330

        }

   331

    }

   332

   333

    // allocate last datagram

   334

    if (datagram_data_size) {

   335

        if (ec_domain_add_datagram(domain, datagram_offset,

   336

                                   datagram_data_size))

   337

            return -1;

   338

        datagram_count++;

   339

    }

   340

   341

    if (!datagram_count) {

   342

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

   343

        ec_domain_clear_data_regs(domain);

   344

        return 0;

   345

    }

   346

   347

    // set all process data pointers

   348

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

   349

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

   350

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

   351

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

   352

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

   353

                // search datagram

   354

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

   355

                    log_addr = EC_READ_U32(datagram->address);

   356

                    pdo_off_datagram = pdo_off - log_addr;

   357

                    if (pdo_off >= log_addr &&

   358

                        pdo_off_datagram < datagram->mem_size) {

   359

                        *data_reg->data_ptr = datagram->data +

   360

                            pdo_off_datagram;

   361

                    }

   362

                }

   363

                if (!data_reg->data_ptr) {

   364

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

   365

                    return -1;

   366

                }

   367

                break;

   368

            }

   369

        }

   370

    }

   371

   372

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

   373

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

   374

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

   375

   376

    ec_domain_clear_data_regs(domain);

   377

   378

    return 0;

   379

}

   380

   381

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

   382

   383

/**

   384

   Formats attribute data for SysFS reading.

   385

   \return number of bytes to read

   386

*/

   387

   388

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

   389

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

   390

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

   391

                                 )

   392

{

   393

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

   394

   395

    if (attr == &attr_image_size) {

   396

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

   397

    }

   398

   399

    return 0;

   400

}

   401

   402

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

   403

 *  Realtime interface

   404

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

   405

   406

/**

   407

 * Registers a PDO for a domain.

   408

 * \return 0 on success, else non-zero

   409

 * \ingroup RealtimeInterface

   410

 */

   411

   412

int ecrt_domain_register_pdo(

   413

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

   414

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

   415

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

   416

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

   417

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

   418

        )

   419

{

   420

    ec_sync_t *sync;

   421

    const ec_pdo_t *pdo;

   422

    const ec_pdo_entry_t *entry;

   423

    unsigned int i;

   424

   425

    // search for PDO entry

   426

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

   427

        sync = &slave->sii_syncs[i];

   428

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

   429

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

   430

                if (entry->index != pdo_entry_index ||

   431

                        entry->subindex != pdo_entry_subindex) continue;

   432

   433

                // PDO entry found

   434

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

   435

                    return -1;

   436

                }

   437

   438

                return 0;

   439

            }

   440

        }

   441

    }

   442

   443

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

   444

           pdo_entry_index, pdo_entry_subindex, slave->ring_position);

   445

    return -1;

   446

}

   447

   448

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

   449

   450

/**

   451

 * Registers a bunch of data fields.

   452

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

   453

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

   454

 * \ingroup RealtimeInterface

   455

 */

   456

   457

int ecrt_domain_register_pdo_list(

   458

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

   459

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

   460

        )

   461

{

   462

    const ec_pdo_reg_t *reg;

   463

    ec_slave_t *slave;

   464

   465

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

   466

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

   467

                        reg->slave_address, reg->vendor_id,

   468

                        reg->product_code)))

   469

            return -1;

   470

   471

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

   472

                    reg->pdo_entry_subindex, reg->data_ptr))

   473

            return -1;

   474

    }

   475

   476

    return 0;

   477

}

   478

   479

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

   480

   481

/**

   482

 * Registers a PDO range in a domain.

   483

 * \return 0 on success, else non-zero

   484

 * \ingroup RealtimeInterface

   485

 */

   486