master/domain.c
author Florian Pose <fp@igh-essen.com>
Tue, 25 Apr 2006 11:37:05 +0000
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parent 199 04ecf40fc2e9
child 246 0bf7c769de06
permissions -rw-r--r--
new topology in mini.c
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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; version 2 of the License.
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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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 *****************************************************************************/
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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 "globals.h"
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#include "domain.h"
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#include "master.h"
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/*****************************************************************************/
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void ec_domain_clear_field_regs(ec_domain_t *);
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ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(data_size);
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static struct attribute *def_attrs[] = {
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    &attr_data_size,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = &ec_show_domain_attribute,
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    .store = NULL
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};
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static struct kobj_type ktype_ec_domain = {
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    .release = ec_domain_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Domain constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */
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                   ec_master_t *master, /**< owning master */
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                   unsigned int index /**< domain index */
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                   )
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{
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    domain->master = master;
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    domain->index = index;
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    domain->data_size = 0;
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    domain->base_address = 0;
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    domain->response_count = 0xFFFFFFFF;
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    INIT_LIST_HEAD(&domain->field_regs);
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    INIT_LIST_HEAD(&domain->commands);
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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_command_t *command, *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(command, next, &domain->commands, list) {
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        ec_command_clear(command);
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        kfree(command);
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    }
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    ec_domain_clear_field_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_field(ec_domain_t *domain, /**< EtherCAT domain */
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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, /**< data field offset */
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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_field_reg_t *field_reg;
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    if (!(field_reg =
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          (ec_field_reg_t *) kmalloc(sizeof(ec_field_reg_t), 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_prepare_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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   Clears the list of the registered data fields.
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*/
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void ec_domain_clear_field_regs(ec_domain_t *domain /**< EtherCAT 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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   Allocates a process data command 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_command(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 command data */
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                          )
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{
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    ec_command_t *command;
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    if (!(command = kmalloc(sizeof(ec_command_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate domain command!\n");
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        return -1;
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    }
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    ec_command_init(command);
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    if (ec_command_lrw(command, offset, data_size)) {
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        kfree(command);
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        return -1;
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    }
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    list_add_tail(&command->list, &domain->commands);
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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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   data fields.
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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 /**< 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, cmd_count;
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    uint32_t field_off, field_off_cmd;
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    uint32_t cmd_offset;
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    size_t cmd_data_size;
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    ec_command_t *command;
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    domain->base_address = base_address;
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    // Größe der Prozessdaten berechnen und Kommandos allozieren
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    domain->data_size = 0;
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    cmd_offset = base_address;
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    cmd_data_size = 0;
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    cmd_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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                domain->data_size += fmmu->sync->size;
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                if (cmd_data_size + fmmu->sync->size > EC_MAX_DATA_SIZE) {
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                    if (ec_domain_add_command(domain, cmd_offset,
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                                              cmd_data_size)) return -1;
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                    cmd_offset += cmd_data_size;
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                    cmd_data_size = 0;
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                    cmd_count++;
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                }
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                cmd_data_size += fmmu->sync->size;
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            }
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        }
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    }
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144
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    // Letztes Kommando allozieren
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    if (cmd_data_size) {
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        if (ec_domain_add_command(domain, cmd_offset, cmd_data_size))
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            return -1;
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        cmd_count++;
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    }
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    if (!cmd_count) {
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        EC_WARN("Domain %i contains no data!\n", domain->index);
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        ec_domain_clear_field_regs(domain);
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        return 0;
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    }
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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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        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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                field_off = fmmu->logical_start_address +
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                    field_reg->field_offset;
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                // Kommando suchen
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                list_for_each_entry(command, &domain->commands, list) {
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                    field_off_cmd = field_off - command->address.logical;
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                    if (field_off >= command->address.logical &&
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                        field_off_cmd < command->mem_size) {
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                        *field_reg->data_ptr = command->data + field_off_cmd;
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                    }
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                }
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                if (!field_reg->data_ptr) {
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                    EC_ERR("Failed to assign data pointer!\n");
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                    return -1;
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                }
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                break;
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            }
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        }
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    }
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    EC_INFO("Domain %i - Allocated %i bytes in %i command%s\n",
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            domain->index, domain->data_size, cmd_count,
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            cmd_count == 1 ? "" : "s");
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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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   Sets the number of responding slaves and outputs it on demand.
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   This number isn't really the number of responding slaves, but the sum of
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   the working counters of all domain commands. Some slaves increase the
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   working counter by 2, some by 1.
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*/
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void ec_domain_response_count(ec_domain_t *domain, /**< EtherCAT domain */
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                              unsigned int count /**< new WC sum */
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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 %i working counter change: %i\n", domain->index,
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                count);
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    }
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}
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/*****************************************************************************/
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/**
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   Formats attribute data for SysFS reading.
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   \return number of bytes to read
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*/
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ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
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                                 struct attribute *attr, /**< attribute */
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                                 char *buffer /**< memory to store data in */
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                                 )
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{
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    ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
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    if (attr == &attr_data_size) {
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        return sprintf(buffer, "%i\n", domain->data_size);
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    }
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    return 0;
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}
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/******************************************************************************
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 *  Realtime interface
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 *****************************************************************************/
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/**
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   Registers a data field in a domain.
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   - If \a data_ptr is NULL, the slave is only checked against its type.
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   - If \a field_count is 0, it is assumed that one data field is to be
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   registered.
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   - If \a field_count is greater then 1, it is assumed that \a data_ptr
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   is an array of the respective size.
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   \return pointer to the slave on success, else NULL
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   \ingroup RealtimeInterface
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*/
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ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
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                                       /**< EtherCAT domain */
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                                       const char *address,
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                                       /**< ASCII address of the slave,
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                                          see ecrt_master_get_slave() */
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                                       const char *vendor_name,
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                                       /**< vendor name */
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                                       const char *product_name,
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                                       /**< product name */
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                                       void **data_ptr,
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                                       /**< address of the process data
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                                          pointer */
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                                       const char *field_name,
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   370
                                       /**< data field name */
104
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diff changeset
   371
                                       unsigned int field_index,
195
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diff changeset
   372
                                       /**< offset of data fields with
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   373
                                          \a field_type  */
104
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   374
                                       unsigned int field_count
195
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diff changeset
   375
                                       /**< number of data fields (with
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   376
                                          the same type) to register */
104
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diff changeset
   377
                                       )
73
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diff changeset
   378
{
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diff changeset
   379
    ec_slave_t *slave;
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diff changeset
   380
    const ec_slave_type_t *type;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   381
    ec_master_t *master;
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diff changeset
   382
    const ec_sync_t *sync;
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diff changeset
   383
    const ec_field_t *field;
108
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   384
    unsigned int field_counter, i, j, orig_field_index, orig_field_count;
73
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diff changeset
   385
    uint32_t field_offset;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   386
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   387
    master = domain->master;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   388
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   389
    // translate address
138
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diff changeset
   390
    if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
73
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diff changeset
   391
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diff changeset
   392
    if (!(type = slave->type)) {
84
b4ae98855cea printk durch Makros ersetzt.
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diff changeset
   393
        EC_ERR("Slave \"%s\" (position %i) has unknown type!\n", address,
b4ae98855cea printk durch Makros ersetzt.
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diff changeset
   394
               slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   395
        return NULL;
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diff changeset
   396
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   397
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   398
    if (strcmp(vendor_name, type->vendor_name) ||
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   399
        strcmp(product_name, type->product_name)) {
84
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parents: 76
diff changeset
   400
        EC_ERR("Invalid slave type at position %i - Requested: \"%s %s\","
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 76
diff changeset
   401
               " found: \"%s %s\".\n", slave->ring_position, vendor_name,
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parents: 76
diff changeset
   402
               product_name, type->vendor_name, type->product_name);
73
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diff changeset
   403
        return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   404
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   405
112
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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diff changeset
   406
    if (!data_ptr) {
195
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   407
        // data_ptr is NULL => mark slave as "registered" (do not warn)
112
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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diff changeset
   408
        slave->registered = 1;
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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parents: 108
diff changeset
   409
    }
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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diff changeset
   410
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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diff changeset
   411
    if (!field_count) field_count = 1;
108
dc3d56151d07 Bugfix: Registrieren von mehreren Feldern gleichzeitig geht jetzt.
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diff changeset
   412
    orig_field_index = field_index;
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diff changeset
   413
    orig_field_count = field_count;
dc3d56151d07 Bugfix: Registrieren von mehreren Feldern gleichzeitig geht jetzt.
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diff changeset
   414
dc3d56151d07 Bugfix: Registrieren von mehreren Feldern gleichzeitig geht jetzt.
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diff changeset
   415
    field_counter = 0;
76
9dc136e3801c EL31XX-Typ korrigiert.
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parents: 73
diff changeset
   416
    for (i = 0; type->sync_managers[i]; i++) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   417
        sync = type->sync_managers[i];
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   418
        field_offset = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   419
        for (j = 0; sync->fields[j]; j++) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   420
            field = sync->fields[j];
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   421
            if (!strcmp(field->name, field_name)) {
108
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diff changeset
   422
                if (field_counter++ == field_index) {
112
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
Florian Pose <fp@igh-essen.com>
parents: 108
diff changeset
   423
                    if (data_ptr)
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
Florian Pose <fp@igh-essen.com>
parents: 108
diff changeset
   424
                        ec_domain_reg_field(domain, slave, sync, field_offset,
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
Florian Pose <fp@igh-essen.com>
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diff changeset
   425
                                            data_ptr++);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   426
                    if (!(--field_count)) return slave;
108
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diff changeset
   427
                    field_index++;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff changeset
   428
                }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   429
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   430
            field_offset += field->size;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   431
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   432
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   433
104
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diff changeset
   434
    EC_ERR("Slave %i (\"%s %s\") registration mismatch: Field \"%s\","
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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diff changeset
   435
           " index %i, count %i.\n", slave->ring_position, vendor_name,
108
dc3d56151d07 Bugfix: Registrieren von mehreren Feldern gleichzeitig geht jetzt.
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parents: 105
diff changeset
   436
           product_name, field_name, orig_field_index, orig_field_count);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   437
    return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   438
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   439
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   440
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   441
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   442
/**
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   443
   Registeres a bunch of data fields.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   444
   Caution! The list has to be terminated with a NULL structure ({})!
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   445
   \return 0 in case of success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   446
   \ingroup RealtimeInterface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   447
*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   448
104
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diff changeset
   449
int ecrt_domain_register_field_list(ec_domain_t *domain,
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   450
                                    /**< EtherCAT domain */
150
36530399236b Plugfest: domain_process mit const-Zeiger.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   451
                                    const ec_field_init_t *fields
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   452
                                    /**< array of data field registrations */
104
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diff changeset
   453
                                    )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   454
{
150
36530399236b Plugfest: domain_process mit const-Zeiger.
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parents: 144
diff changeset
   455
    const ec_field_init_t *field;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   456
112
eec7639c7be9 Feldregistrierung: NULL als data_ptr m?glich, field_count 0 = 1.
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parents: 108
diff changeset
   457
    for (field = fields; field->slave_address; field++)
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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parents: 101
diff changeset
   458
        if (!ecrt_domain_register_field(domain, field->slave_address,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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parents: 101
diff changeset
   459
                                        field->vendor_name,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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parents: 101
diff changeset
   460
                                        field->product_name, field->data_ptr,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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parents: 101
diff changeset
   461
                                        field->field_name, field->field_index,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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parents: 101
diff changeset
   462
                                        field->field_count))
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   463
            return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   464
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   465
    return 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   466
}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   467
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   468
/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   469
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   470
/**
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   471
   Places all process data commands in the masters command queue.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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parents: 197
diff changeset
   472
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   473
*/
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   474
674071846ee3 Translated all comments and documentation to english language.
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parents: 184
diff changeset
   475
void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 97
diff changeset
   476
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   477
    ec_command_t *command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   478
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   479
    list_for_each_entry(command, &domain->commands, list) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   480
        ec_master_queue_command(domain->master, command);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   481
    }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   482
}
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/*****************************************************************************/
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/**
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   Processes received process data.
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   \ingroup RealtimeInterface
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*/
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void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    unsigned int working_counter_sum;
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    ec_command_t *command;
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    working_counter_sum = 0;
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    list_for_each_entry(command, &domain->commands, list) {
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        if (command->state == EC_CMD_RECEIVED) {
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            working_counter_sum += command->working_counter;
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        }
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    }
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   503
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    ec_domain_response_count(domain, working_counter_sum);
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}
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/*****************************************************************************/
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/**
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   Returns the state of a domain.
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   \return 0 if all commands were received, else -1.
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   \ingroup RealtimeInterface
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*/
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int ecrt_domain_state(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_command_t *command;
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    list_for_each_entry(command, &domain->commands, list) {
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        if (command->state != EC_CMD_RECEIVED) return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/** \cond */
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EXPORT_SYMBOL(ecrt_domain_register_field);
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EXPORT_SYMBOL(ecrt_domain_register_field_list);
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EXPORT_SYMBOL(ecrt_domain_queue);
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EXPORT_SYMBOL(ecrt_domain_process);
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EXPORT_SYMBOL(ecrt_domain_state);
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/** \endcond */
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/*****************************************************************************/