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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 "master.h"

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#include "slave_config.h"

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#include "domain.h"

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

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    51

void ec_domain_clear_data(ec_domain_t *);

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

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/** Domain constructor.

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 */

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void ec_domain_init(

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

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        ec_master_t *master, /**< Parent master. */

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

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    domain->data_size = 0;

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    domain->data = NULL;

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    domain->data_origin = EC_ORIG_INTERNAL;

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    domain->logical_base_address = 0x00000000;

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    INIT_LIST_HEAD(&domain->datagrams);

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    domain->working_counter = 0x0000;

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    domain->expected_working_counter = 0x0000;

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    domain->working_counter_changes = 0;

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    domain->notify_jiffies = 0;

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}

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

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    79

/** Domain destructor.

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 */

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

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{

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    ec_datagram_t *datagram, *next;

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    // dequeue and free datagrams

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

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

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            list_del(&datagram->queue);

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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(domain);

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}

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

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/** Frees internally allocated memory.

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 */

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void ec_domain_clear_data(

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        ec_domain_t *domain /**< EtherCAT domain. */

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        )

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{

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    if (domain->data_origin == EC_ORIG_INTERNAL && domain->data)

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        kfree(domain->data);

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    domain->data = NULL;

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    domain->data_origin = EC_ORIG_INTERNAL;

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}

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   110

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

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   112

/** Adds an FMMU configuration to the domain.

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 */

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void ec_domain_add_fmmu_config(

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

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        ec_fmmu_config_t *fmmu /**< FMMU configuration. */

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        )

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{

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    fmmu->domain = domain;

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    domain->data_size += fmmu->data_size;

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    list_add_tail(&fmmu->list, &domain->fmmu_configs);

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    if (domain->master->debug_level)

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        EC_DBG("Domain %u: Added %u bytes, total %u.\n", domain->index,

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                fmmu->data_size, domain->data_size);

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}

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   129

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

   130

   131

/** Allocates a domain datagram and appends it to the list.

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 *

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 * The datagram type and expected working counters are determined by the

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 * number of input and output fmmus that share the datagram.

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 *

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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(

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

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        uint32_t logical_offset, /**< Logical offset. */

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        size_t data_size, /**< Size of the data. */

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        uint8_t *data, /**< Process data. */

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        const unsigned int used[] /**< Used by inputs/outputs. */

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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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    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,

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

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    if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs

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        if (ec_datagram_lrw(datagram, logical_offset, data_size, data)) {

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            kfree(datagram);

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            return -1;

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        }

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        // If LRW is used, output FMMUs increment the working counter by 2,

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        // while input FMMUs increment it by 1.

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        domain->expected_working_counter =

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            used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT];

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    } else if (used[EC_DIR_OUTPUT]) { // outputs only

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        if (ec_datagram_lwr(datagram, logical_offset, data_size, data)) {

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            kfree(datagram);

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            return -1;

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        }

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        domain->expected_working_counter = used[EC_DIR_OUTPUT];

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    } else { // inputs only (or nothing)

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        if (ec_datagram_lrd(datagram, logical_offset, data_size, data)) {

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            kfree(datagram);

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            return -1;

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        }

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        domain->expected_working_counter = used[EC_DIR_INPUT];

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    }

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    ec_datagram_zero(datagram);

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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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   187

/** Finishes a domain.

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 *

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 * This allocates the necessary datagrams and writes the correct logical

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 * addresses to every configured FMMU.

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 *

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 * \todo Check for FMMUs that do not fit into any datagram.

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 *

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 * \retval 0 in case of success

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 * \retval <0 on failure.

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 */

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int ec_domain_finish(

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        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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    uint32_t datagram_offset;

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    size_t datagram_size;

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    unsigned int datagram_count;

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    unsigned int datagram_used[EC_DIR_COUNT];

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    ec_fmmu_config_t *fmmu;

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    const ec_datagram_t *datagram;

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    domain->logical_base_address = base_address;

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   211

    if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {

   212

        if (!(domain->data =

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                    (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {

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            EC_ERR("Failed to allocate %u bytes internal memory for"

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                    " domain %u!\n", domain->data_size, domain->index);

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            return -1;

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        }

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    }

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    // Cycle through all domain FMMUS and

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    // - correct the logical base addresses

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    // - set up the datagrams to carry the process data

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    datagram_offset = 0;

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    datagram_size = 0;

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    datagram_count = 0;

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    datagram_used[EC_DIR_OUTPUT] = 0;

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    datagram_used[EC_DIR_INPUT] = 0;

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    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

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        // Correct logical FMMU address

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        fmmu->logical_start_address += base_address;

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        // Increment Input/Output counter to determine datagram types

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        // and calculate expected working counters

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        datagram_used[fmmu->dir]++;

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        // If the current FMMU's data do not fit in the current datagram,

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        // allocate a new one.

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        if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) {

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            if (ec_domain_add_datagram(domain,

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                        domain->logical_base_address + datagram_offset,

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                        datagram_size, domain->data + datagram_offset,

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                        datagram_used))

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                return -1;

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            datagram_offset += datagram_size;

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            datagram_size = 0;

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            datagram_count++;

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            datagram_used[EC_DIR_OUTPUT] = 0;

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            datagram_used[EC_DIR_INPUT] = 0;

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        }

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        datagram_size += fmmu->data_size;

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    }

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    // Allocate last datagram, if data are left (this is also the case if the

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    // process data fit into a single datagram)

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    if (datagram_size) {

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        if (ec_domain_add_datagram(domain,

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                    domain->logical_base_address + datagram_offset,

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                    datagram_size, domain->data + datagram_offset,

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                    datagram_used))

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            return -1;

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        datagram_count++;

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    }

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    EC_INFO("Domain%u: Logical address 0x%08x, %u byte, "

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            "expected working counter %u.\n", domain->index,

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            domain->logical_base_address, domain->data_size,

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            domain->expected_working_counter);

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

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        EC_INFO("  Datagram %s: Logical offset 0x%08x, %u byte, type %s.\n",

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                datagram->name, EC_READ_U32(datagram->address),

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                datagram->data_size, ec_datagram_type_string(datagram));

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    }

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    return 0;

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}

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

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   281

/** Get the number of FMMU configurations of the domain.

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 */

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unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)

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{

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    const ec_fmmu_config_t *fmmu;

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    unsigned int num = 0;

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    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

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        num++;

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    }

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    return num;

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}

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

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   297

/** Get a certain FMMU configuration via its position in the list.

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 */

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const ec_fmmu_config_t *ec_domain_find_fmmu(

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        const ec_domain_t *domain, /**< EtherCAT domain. */

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        unsigned int pos /**< List position. */

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        )

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{

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    const ec_fmmu_config_t *fmmu;

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    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

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        if (pos--)

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            continue;

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        return fmmu;

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    }

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   312

    return NULL;

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}

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

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 *  Realtime interface

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

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   319

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,

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        const ec_pdo_entry_reg_t *regs)

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{

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    const ec_pdo_entry_reg_t *reg;

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    ec_slave_config_t *sc;

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    int ret;

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    if (domain->master->debug_level)

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        EC_DBG("ecrt_domain_reg_pdo_entry_list(domain = 0x%x, regs = 0x%x)\n",

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                (u32) domain, (u32) regs);

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    for (reg = regs; reg->index; reg++) {

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        if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,

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                        reg->position, reg->vendor_id, reg->product_code)))

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            return -1;

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        if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,

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                        reg->subindex, domain, reg->bit_position)) < 0)

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            return -1;

   338

   339

        *reg->offset = ret;

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    }

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   342

    return 0;

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}

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

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   347

size_t ecrt_domain_size(ec_domain_t *domain)

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{

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    return domain->data_size;

   350

}

   351

   352

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

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   354

void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)

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{

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    if (domain->master->debug_level)

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        EC_DBG("ecrt_domain_external_memory(domain = 0x%x, mem = 0x%x)\n",

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                (u32) domain, (u32) mem);

   359

   360

    down(&domain->master->master_sem);

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   362

    ec_domain_clear_data(domain);

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   364

    domain->data = mem;

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    domain->data_origin = EC_ORIG_EXTERNAL;

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   367

    up(&domain->master->master_sem);

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}

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   370

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

   371

   372

uint8_t *ecrt_domain_data(ec_domain_t *domain)

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{

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    return domain->data;

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}

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   377

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

   378

   379

void ecrt_domain_process(ec_domain_t *domain)

   380

{

   381

    uint16_t working_counter_sum;

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    ec_datagram_t *datagram;

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   384

    working_counter_sum = 0x0000;

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

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        ec_datagram_output_stats(datagram);

   387

        if (datagram->state == EC_DATAGRAM_RECEIVED) {

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            working_counter_sum += datagram->working_counter;

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        }

   390

    }

   391

   392

    if (working_counter_sum != domain->working_counter) {

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        domain->working_counter_changes++;

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        domain->working_counter = working_counter_sum;

   395

    }

   396

   397

    if (domain->working_counter_changes &&

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        jiffies - domain->notify_jiffies > HZ) {

   399

        domain->notify_jiffies = jiffies;

   400

        if (domain->working_counter_changes == 1) {

   401

            EC_INFO("Domain %u: Working counter changed to %u/%u.\n",

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                    domain->index, domain->working_counter,

   403

                    domain->expected_working_counter);

   404

        } else {

   405

            EC_INFO("Domain %u: %u working counter changes - now %u/%u.\n",

   406

                    domain->index, domain->working_counter_changes,

   407

                    domain->working_counter, domain->expected_working_counter);

   408

        }

   409

        domain->working_counter_changes = 0;

   410

    }

   411

}

   412

   413

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

   414

   415

void ecrt_domain_queue(ec_domain_t *domain)

   416

{

   417

    ec_datagram_t *datagram;

   418

   419

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

   420

        ec_master_queue_datagram(domain->master, datagram);

   421

    }

   422

}

   423

   424

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

   425

   426

void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)

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{

   428

    state->working_counter = domain->working_counter;

   429

   430

    if (domain->working_counter) {

   431

        if (domain->working_counter == domain->expected_working_counter) {

   432

            state->wc_state = EC_WC_COMPLETE;

   433

        } else {

   434

            state->wc_state = EC_WC_INCOMPLETE;

   435

        }

   436

    } else {

   437

        state->wc_state = EC_WC_ZERO;

   438

    }

   439

}

   440

   441

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

   442

   443

/** \cond */

   444

   445

EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);

   446

EXPORT_SYMBOL(ecrt_domain_size);

   447

EXPORT_SYMBOL(ecrt_domain_external_memory);

   448

EXPORT_SYMBOL(ecrt_domain_data);

   449

EXPORT_SYMBOL(ecrt_domain_process);

   450

EXPORT_SYMBOL(ecrt_domain_queue);

   451

EXPORT_SYMBOL(ecrt_domain_state);

   452

   453

/** \endcond */

   454

   455

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