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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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

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

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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

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

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 *

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT domain methods.

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*/

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

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#include <linux/module.h>

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    43

#include "globals.h"

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#include "domain.h"

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#include "master.h"

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    47

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

    48

    49

/**

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   Data registration type.

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*/

    52

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typedef struct

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{

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

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    ec_slave_t *slave; /**< slave */

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    const ec_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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    63

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

    64

    65

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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    68

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

    69

    70

/** \cond */

    71

    72

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

    93

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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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    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 data field in a domain.

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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,

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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, &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 registered data fields.

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*/

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   231

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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                           )

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{

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    ec_datagram_t *datagram;

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

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

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        return -1;

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    }

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    ec_datagram_init(datagram);

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

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        kfree(datagram);

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        return -1;

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    }

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

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    return 0;

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}

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

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/**

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   Creates a domain.

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   Reserves domain memory, calculates the logical addresses of the

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   corresponding FMMUs and sets the process data pointer of the registered

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   process data.

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   \return 0 in case of success, else < 0

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*/

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

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                    uint32_t base_address /**< logical base address */

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                    )

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{

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    ec_data_reg_t *data_reg;

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    ec_slave_t *slave;

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    ec_fmmu_t *fmmu;

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    unsigned int i, j, datagram_count;

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    uint32_t pdo_off, pdo_off_datagram;

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    uint32_t datagram_offset;

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    size_t datagram_data_size, sync_size;

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    ec_datagram_t *datagram;

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    domain->base_address = base_address;

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    // calculate size of process data and allocate memory

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    domain->data_size = 0;

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    datagram_offset = base_address;

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    datagram_data_size = 0;

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    datagram_count = 0;

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

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

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            fmmu = &slave->fmmus[j];

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            if (fmmu->domain == domain) {

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

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                sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);

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                domain->data_size += sync_size;

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                if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {

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                    if (ec_domain_add_datagram(domain, datagram_offset,

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                                               datagram_data_size)) return -1;

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                    datagram_offset += datagram_data_size;

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                    datagram_data_size = 0;

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                    datagram_count++;

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                }

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                datagram_data_size += sync_size;

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            }

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        }

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    }

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    // allocate last datagram

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    if (datagram_data_size) {

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        if (ec_domain_add_datagram(domain, datagram_offset,

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                                   datagram_data_size))

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            return -1;

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        datagram_count++;

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    }

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   328

    if (!datagram_count) {

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

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        ec_domain_clear_data_regs(domain);

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        return 0;

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    }

   333

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    // set all process data pointers

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

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

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

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

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

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                // search datagram

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

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                    pdo_off_datagram = pdo_off - datagram->address.logical;

   343

                    if (pdo_off >= datagram->address.logical &&

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                        pdo_off_datagram < datagram->mem_size) {

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                        *data_reg->data_ptr = datagram->data +

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                            pdo_off_datagram;

   347

                    }

   348

                }

   349

                if (!data_reg->data_ptr) {

   350

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

   351

                    return -1;

   352

                }

   353

                break;

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            }

   355

        }

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    }

   357

   358

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

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

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

   361

   362

    ec_domain_clear_data_regs(domain);

   363

   364

    return 0;

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}

   366

   367

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

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   369

/**

   370

   Places all process data datagrams in the masters datagram queue.

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*/

   372

   373

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

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{

   375

    ec_datagram_t *datagram;

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   377

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

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        ec_master_queue_datagram(domain->master, datagram);

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    }

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}

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   382

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

   383

   384

/**

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   Formats attribute data for SysFS reading.

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   \return number of bytes to read

   387

*/

   388

   389

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

   390

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

   391

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

   392

                                 )

   393

{

   394

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

   395

   396

    if (attr == &attr_image_size) {

   397

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

   398

    }

   399

   400

    return 0;

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}

   402

   403

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

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 *  Realtime interface

   405

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

   406

   407

/**

   408

   Registers a PDO in a domain.

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   - If \a data_ptr is NULL, the slave is only validated.

   410

   \return pointer to the slave on success, else NULL

   411

   \ingroup RealtimeInterface

   412

*/

   413

   414

ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,

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                                     /**< EtherCAT domain */

   416

                                     const char *address,

   417

                                     /**< ASCII address of the slave,

   418

                                        see ecrt_master_get_slave() */

   419

                                     uint32_t vendor_id,

   420

                                     /**< vendor ID */

   421

                                     uint32_t product_code,

   422

                                     /**< product code */

   423

                                     uint16_t pdo_index,

   424

                                     /**< PDO index */

   425

                                     uint8_t pdo_subindex,

   426

                                     /**< PDO subindex */

   427

                                     void **data_ptr

   428

                                     /**< address of the process data

   429

                                        pointer */

   430

                                     )

   431

{

   432

    ec_slave_t *slave;

   433

    ec_master_t *master;

   434

    const ec_sii_pdo_t *pdo;

   435

    const ec_sii_pdo_entry_t *entry;

   436

   437

    master = domain->master;

   438

   439

    // translate address

   440

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

   441

   442

    if (vendor_id != slave->sii_vendor_id ||

   443

        product_code != slave->sii_product_code) {

   444

        EC_ERR("Invalid slave type at position %i - Requested: 0x%08X 0x%08X,"

   445

               " found: 0x%08X 0x%08X\".\n", slave->ring_position, vendor_id,

   446

               product_code, slave->sii_vendor_id, slave->sii_product_code);

   447

        return NULL;

   448

    }

   449

   450

    if (!data_ptr) {

   451

        // data_ptr is NULL => mark slave as "registered" (do not warn)

   452

        slave->registered = 1;

   453

    }

   454

   455

    list_for_each_entry(pdo, &slave->sii_pdos, list) {

   456

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

   457

            if (entry->index != pdo_index

   458

                || entry->subindex != pdo_subindex) continue;

   459

   460

            if (data_ptr) {

   461

                ec_domain_reg_pdo_entry(domain, slave, pdo, entry, data_ptr);

   462

            }

   463

   464

            return slave;

   465

        }

   466

    }

   467

   468

    EC_ERR("Slave %i does not provide PDO 0x%04X:%i.\n",

   469

           slave->ring_position, pdo_index, pdo_subindex);

   470

    slave->registered = 0;

   471

    return NULL;

   472

}

   473

   474

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

   475

   476

/**

   477

   Registeres a bunch of data fields.

   478

   Caution! The list has to be terminated with a NULL structure ({})!

   479

   \return 0 in case of success, else < 0

   480

   \ingroup RealtimeInterface

   481

*/

   482

   483

int ecrt_domain_register_pdo_list(ec_domain_t *domain,

   484

                                  /**< EtherCAT domain */

   485

                                  const ec_pdo_reg_t *pdos

   486

                                  /**< array of PDO registrations */

   487

                                  )

   488

{

   489