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

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 *

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 *  d o m a i n . c

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 *

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 *  Methoden für Gruppen von EtherCAT-Slaves.

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 *

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 *  $Id$

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 *

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

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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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void ec_domain_clear_field_regs(ec_domain_t *);

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

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/**

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   Konstruktor einer EtherCAT-Domäne.

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*/

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

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

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                    ec_domain_mode_t mode, /**< Synchron/Asynchron */

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                    unsigned int timeout_us /**< Timeout in Mikrosekunden */

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                    )

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{

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    domain->master = master;

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    domain->mode = mode;

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    domain->timeout_us = timeout_us;

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    domain->data = NULL;

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    domain->data_size = 0;

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    domain->commands = NULL;

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    domain->command_count = 0;

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    domain->base_address = 0;

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    domain->response_count = 0xFFFFFFFF;

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    INIT_LIST_HEAD(&domain->field_regs);

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}

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

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/**

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   Destruktor einer EtherCAT-Domäne.

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*/

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

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{

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    if (domain->data) kfree(domain->data);

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    if (domain->commands) kfree(domain->commands);

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    ec_domain_clear_field_regs(domain);

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}

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

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/**

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   Registriert ein Feld in einer Domäne.

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   \return 0 bei Erfolg, < 0 bei Fehler

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*/

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

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                        ec_slave_t *slave, /**< Slave */

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

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

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

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                        )

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{

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    ec_field_reg_t *field_reg;

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    if (!(field_reg = (ec_field_reg_t *) kmalloc(sizeof(ec_field_reg_t),

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                                                 GFP_KERNEL))) {

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

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        return -1;

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    }

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

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

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        kfree(field_reg);

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        return -1;

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    }

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    field_reg->slave = slave;

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    field_reg->sync = sync;

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    field_reg->field_offset = field_offset;

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    field_reg->data_ptr = data_ptr;

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

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    return 0;

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}

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

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/**

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   Gibt die Liste der registrierten Datenfelder frei.

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*/

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void ec_domain_clear_field_regs(ec_domain_t *domain)

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{

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    ec_field_reg_t *field_reg, *next;

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

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        list_del(&field_reg->list);

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        kfree(field_reg);

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    }

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}

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

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/**

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   Erzeugt eine Domäne.

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   Reserviert den Speicher einer Domäne, berechnet die logischen Adressen der

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   FMMUs und setzt die Prozessdatenzeiger der registrierten Felder.

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   \return 0 bei Erfolg, < 0 bei Fehler

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*/

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

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                    uint32_t base_address /**< Logische Basisadresse */

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                    )

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{

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    ec_field_reg_t *field_reg;

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    ec_slave_t *slave;

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    ec_fmmu_t *fmmu;

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    unsigned int i, j, found;

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    uint32_t data_offset;

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    if (domain->data) {

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        EC_ERR("Domain already allocated!\n");

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        return -1;

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    }

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    domain->base_address = base_address;

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    // Größe der Prozessdaten berechnen

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    // und logische Adressen der FMMUs setzen

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    domain->data_size = 0;

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    for (i = 0; i < domain->master->slave_count; i++) {

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        slave = &domain->master->slaves[i];

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

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            fmmu = &slave->fmmus[j];

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            if (fmmu->domain == domain) {

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

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

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            }

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        }

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    }

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    if (!domain->data_size) {

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        EC_WARN("Domain 0x%08X contains no data!\n", (u32) domain);

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        ec_domain_clear_field_regs(domain);

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        return 0;

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    }

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    // Prozessdaten allozieren

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    if (!(domain->data = kmalloc(domain->data_size, GFP_KERNEL))) {

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

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        return -1;

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    }

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    // Prozessdaten mit Nullen vorbelegen

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    memset(domain->data, 0x00, domain->data_size);

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    // Alle Prozessdatenzeiger setzen

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

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        found = 0;

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

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

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

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                data_offset = fmmu->logical_start_address - base_address

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                    + field_reg->field_offset;

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                *field_reg->data_ptr = domain->data + data_offset;

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                found = 1;

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                break;

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            }

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        }

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        if (!found) { // Sollte nie passieren

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            EC_ERR("FMMU not found. Please report!\n");

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            return -1;

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        }

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    }

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    // Kommando-Array erzeugen

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    domain->command_count = domain->data_size / EC_MAX_DATA_SIZE + 1;

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    if (!(domain->commands = (ec_command_t *) kmalloc(sizeof(ec_command_t)

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                                                      * domain->command_count,

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                                                      GFP_KERNEL))) {

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

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        return -1;

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    }

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

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            (u32) domain, domain->data_size, domain->command_count);

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    ec_domain_clear_field_regs(domain);

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    return 0;

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}

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

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/**

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   Gibt die Anzahl der antwortenden Slaves aus.

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*/

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

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                              unsigned int count /**< Neue Anzahl */

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                              )

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{

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    if (count != domain->response_count) {

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        domain->response_count = count;

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        EC_INFO("Domain %08X state change - %i slave%s responding.\n",

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                (u32) domain, count, count == 1 ? "" : "s");

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    }

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}

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

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 *

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 * Echtzeitschnittstelle

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 *

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

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/**

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   Registriert ein Datenfeld innerhalb einer Domäne.

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   \return Zeiger auf den Slave bei Erfolg, sonst NULL

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*/

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ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,

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                                             /**< Domäne */

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                                             const char *address,

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                                             /**< ASCII-Addresse des Slaves,

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                                                siehe ec_master_slave_address()

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                                             */

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                                             const char *vendor_name,

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                                             /**< Herstellername */

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                                             const char *product_name,

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                                             /**< Produktname */

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                                             void **data_ptr,

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                                             /**< Adresse des Zeigers auf die

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                                                Prozessdaten */

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                                             ec_field_type_t field_type,

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                                             /**< Typ des Datenfeldes */

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                                             unsigned int field_index,

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                                             /**< Gibt an, ab welchem Feld mit

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                                                Typ \a field_type gezählt

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                                                werden soll. */

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                                             unsigned int field_count

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                                             /**< Anzahl Felder selben Typs */

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                                             )

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{

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    ec_slave_t *slave;

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    const ec_slave_type_t *type;

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    ec_master_t *master;

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    const ec_sync_t *sync;

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    const ec_field_t *field;

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    unsigned int field_idx, i, j;

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    uint32_t field_offset;

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    if (!field_count) {

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        EC_ERR("field_count may not be 0!\n");

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        return NULL;

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    }

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    master = domain->master;

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    // Adresse übersetzen

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

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

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

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               slave->ring_position);

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        return NULL;

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    }

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

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        strcmp(product_name, type->product_name)) {

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

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

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

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        return NULL;

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    }

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    field_idx = 0;

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

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        sync = type->sync_managers[i];

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        field_offset = 0;

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

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            field = sync->fields[j];

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            if (field->type == field_type) {

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                if (field_idx == field_index) {

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                    ec_domain_reg_field(domain, slave, sync, field_offset,

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                                        data_ptr++);

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

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                }

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                field_idx++;

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            }

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            field_offset += field->size;

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        }

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    }

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

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

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           field_type, field_index, field_count);

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    return NULL;

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}

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

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/**

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   Registriert eine ganze Liste von Datenfeldern innerhalb einer Domäne.

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

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   \return 0 bei Erfolg, sonst < 0

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*/

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int EtherCAT_rt_register_domain_fields(ec_domain_t *domain,

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                                       /**< Domäne */

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                                       ec_field_init_t *fields

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                                       /**< Array mit Datenfeldern */

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                                       )

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{

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    ec_field_init_t *field;

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    for (field = fields; field->data; field++) {

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        if (!EtherCAT_rt_register_slave_field(domain, field->address,

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                                              field->vendor, field->product,

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                                              field->data, field->field_type,

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                                              field->field_index,

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                                              field->field_count)) {

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            return -1;

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        }

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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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   Setzt Prozessdaten-Kommandos in die Warteschlange des Masters.

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*/

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

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{

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    unsigned int i;

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    size_t size;

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    off_t offset;

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    offset = 0;

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    for (i = 0; i < domain->command_count; i++) {

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        size = domain->data_size - offset;

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        if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE;

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        ec_command_init_lrw(domain->commands + i,

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                            domain->base_address + offset, size,

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                            domain->data + offset);

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        ec_master_queue_command(domain->master, domain->commands + i);

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        offset += size;

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    }

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}

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

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/**

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   Verarbeitet empfangene Prozessdaten.

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*/

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

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{

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    unsigned int working_counter_sum, i;

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    ec_command_t *command;

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    size_t size;

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    off_t offset;

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    working_counter_sum = 0;

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    offset = 0;

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    for (i = 0; i < domain->command_count; i++) {

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        command = domain->commands + i;

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        size = domain->data_size - offset;

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        if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE;

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        if (command->state == EC_CMD_RECEIVED) {

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            // Daten vom Kommando- in den Prozessdatenspeicher kopieren

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            memcpy(domain->data + offset, command->data, size);

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            working_counter_sum += command->working_counter;

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        }

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        else if (unlikely(domain->master->debug_level)) {

   395

            EC_DBG("process data command not received!\n");

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        }

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        offset += size;

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    }

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    ec_domain_response_count(domain, working_counter_sum);

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}

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

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EXPORT_SYMBOL(EtherCAT_rt_register_slave_field);

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EXPORT_SYMBOL(EtherCAT_rt_register_domain_fields);

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EXPORT_SYMBOL(EtherCAT_rt_domain_queue);

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EXPORT_SYMBOL(EtherCAT_rt_domain_process);

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

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   412

/* Emacs-Konfiguration

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;;; Local Variables: ***

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;;; c-basic-offset:4 ***

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;;; End: ***

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*/