1

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

     2

 *

     3

 *  d o m a i n . c

     4

 *

     5

 *  Methoden für Gruppen von EtherCAT-Slaves.

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

    11

#include "globals.h"

    12

#include "domain.h"

    13

#include "master.h"

    14

    15

void ec_domain_clear_field_regs(ec_domain_t *);

    16

    17

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

    18

    19

/**

    20

   Konstruktor einer EtherCAT-Domäne.

    21

*/

    22

    23

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

    24

                    ec_master_t *master /**< Zugehöriger Master */

    25

                    )

    26

{

    27

    domain->master = master;

    28

    domain->data = NULL;

    29

    domain->data_size = 0;

    30

    domain->commands = NULL;

    31

    domain->command_count = 0;

    32

    domain->base_address = 0;

    33

    domain->response_count = 0xFFFFFFFF;

    34

    35

    INIT_LIST_HEAD(&domain->field_regs);

    36

}

    37

    38

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

    39

    40

/**

    41

   Destruktor einer EtherCAT-Domäne.

    42

*/

    43

    44

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

    45

{

    46

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

    47

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

    48

    49

    ec_domain_clear_field_regs(domain);

    50

}

    51

    52

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

    53

    54

/**

    55

   Registriert ein Feld in einer Domäne.

    56

    57

   \return 0 bei Erfolg, < 0 bei Fehler

    58

*/

    59

    60

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

    61

                        ec_slave_t *slave, /**< Slave */

    62

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

    63

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

    64

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

    65

                        )

    66

{

    67

    ec_field_reg_t *field_reg;

    68

    69

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

    70

                                                 GFP_KERNEL))) {

    71

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

    72

        return -1;

    73

    }

    74

    75

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

    76

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

    77

        kfree(field_reg);

    78

        return -1;

    79

    }

    80

    81

    field_reg->slave = slave;

    82

    field_reg->sync = sync;

    83

    field_reg->field_offset = field_offset;

    84

    field_reg->data_ptr = data_ptr;

    85

    86

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

    87

    88

    return 0;

    89

}

    90

    91

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

    92

    93

/**

    94

   Gibt die Liste der registrierten Datenfelder frei.

    95

*/

    96

    97

void ec_domain_clear_field_regs(ec_domain_t *domain)

    98

{

    99

    ec_field_reg_t *field_reg, *next;

   100

   101

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

   102

        list_del(&field_reg->list);

   103

        kfree(field_reg);

   104

    }

   105

}

   106

   107

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

   108

   109

/**

   110

   Erzeugt eine Domäne.

   111

   112

   Reserviert den Speicher einer Domäne, berechnet die logischen Adressen der

   113

   FMMUs und setzt die Prozessdatenzeiger der registrierten Felder.

   114

   115

   \return 0 bei Erfolg, < 0 bei Fehler

   116

*/

   117

   118

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

   119

                    uint32_t base_address /**< Logische Basisadresse */

   120

                    )

   121

{

   122

    ec_field_reg_t *field_reg;

   123

    ec_slave_t *slave;

   124

    ec_fmmu_t *fmmu;

   125

    unsigned int i, j, found;

   126

    uint32_t data_offset;

   127

   128

    if (domain->data) {

   129

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

   130

        return -1;

   131

    }

   132

   133

    domain->base_address = base_address;

   134

   135

    // Größe der Prozessdaten berechnen

   136

    // und logische Adressen der FMMUs setzen

   137

    domain->data_size = 0;

   138

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

   139

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

   140

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

   141

            fmmu = &slave->fmmus[j];

   142

            if (fmmu->domain == domain) {

   143

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

   144

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

   145

            }

   146

        }

   147

    }

   148

   149

    if (!domain->data_size) {

   150

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

   151

        ec_domain_clear_field_regs(domain);

   152

        return 0;

   153

    }

   154

   155

    // Prozessdaten allozieren

   156

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

   157

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

   158

        return -1;

   159

    }

   160

   161

    // Prozessdaten mit Nullen vorbelegen

   162

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

   163

   164

    // Alle Prozessdatenzeiger setzen

   165

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

   166

        found = 0;

   167

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

   168

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

   169

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

   170

                data_offset = fmmu->logical_start_address - base_address

   171

                    + field_reg->field_offset;

   172

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

   173

                found = 1;

   174

                break;

   175

            }

   176

        }

   177

   178

        if (!found) { // Sollte nie passieren

   179

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

   180

            return -1;

   181

        }

   182

    }

   183

   184

    // Kommando-Array erzeugen

   185

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

   186

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

   187

                                                      * domain->command_count,

   188

                                                      GFP_KERNEL))) {

   189

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

   190

        return -1;

   191

    }

   192

   193

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

   194

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

   195

   196

    ec_domain_clear_field_regs(domain);

   197

   198

    return 0;

   199

}

   200

   201

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

   202

   203

/**

   204

   Gibt die Anzahl der antwortenden Slaves aus.

   205

*/

   206

   207

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

   208

                              unsigned int count /**< Neue Anzahl */

   209

                              )

   210

{

   211

    if (count != domain->response_count) {

   212

        domain->response_count = count;

   213

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

   214

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

   215

    }

   216

}

   217

   218

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

   219

 *

   220

 * Echtzeitschnittstelle

   221

 *

   222

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

   223

   224

/**

   225

   Registriert ein Datenfeld innerhalb einer Domäne.

   226

   227

   \return Zeiger auf den Slave bei Erfolg, sonst NULL

   228

*/

   229

   230

ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

   231

                                       /**< Domäne */

   232

                                       const char *address,

   233

                                       /**< ASCII-Addresse des Slaves,

   234

                                          siehe ec_master_slave_address() */

   235

                                       const char *vendor_name,

   236

                                       /**< Herstellername */

   237

                                       const char *product_name,

   238

                                       /**< Produktname */

   239

                                       void **data_ptr,

   240

                                       /**< Adresse des Zeigers auf die

   241

                                          Prozessdaten */

   242

                                       const char *field_name,

   243

                                       /**< Name des Datenfeldes */

   244

                                       unsigned int field_index,

   245

                                       /**< Gibt an, ab welchem Feld mit

   246

                                          Typ \a field_type gezählt

   247

                                          werden soll. */

   248

                                       unsigned int field_count

   249

                                       /**< Anzahl Felder selben Typs */

   250

                                       )

   251

{

   252

    ec_slave_t *slave;

   253

    const ec_slave_type_t *type;

   254

    ec_master_t *master;

   255

    const ec_sync_t *sync;

   256

    const ec_field_t *field;

   257

    unsigned int field_idx, i, j;

   258

    uint32_t field_offset;

   259

   260

    if (!field_count) {

   261

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

   262

        return NULL;

   263

    }

   264

   265

    master = domain->master;

   266

   267

    // Adresse übersetzen

   268

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

   269

   270

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

   271

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

   272

               slave->ring_position);

   273

        return NULL;

   274

    }

   275

   276

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

   277

        strcmp(product_name, type->product_name)) {

   278

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

   279

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

   280

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

   281

        return NULL;

   282

    }

   283

   284

    field_idx = 0;

   285

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

   286

        sync = type->sync_managers[i];

   287

        field_offset = 0;

   288

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

   289

            field = sync->fields[j];

   290

            if (!strcmp(field->name, field_name)) {

   291

                if (field_idx == field_index) {

   292

                    ec_domain_reg_field(domain, slave, sync, field_offset,

   293

                                        data_ptr++);

   294

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

   295

                }

   296

                field_idx++;

   297

            }

   298

            field_offset += field->size;

   299

        }

   300

    }

   301

   302

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

   303

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

   304

           product_name, field_name, field_index, field_count);

   305

    return NULL;

   306

}

   307

   308

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

   309

   310

/**

   311

   Registriert eine ganze Liste von Datenfeldern innerhalb einer Domäne.

   312

   313

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

   314

   315

   \return 0 bei Erfolg, sonst < 0

   316

*/

   317

   318

int ecrt_domain_register_field_list(ec_domain_t *domain,

   319

                                    /**< Domäne */

   320

                                    ec_field_init_t *fields

   321

                                    /**< Array mit Datenfeldern */

   322

                                    )

   323

{

   324

    ec_field_init_t *field;

   325

   326

    for (field = fields; field->data_ptr; field++)

   327

        if (!ecrt_domain_register_field(domain, field->slave_address,

   328

                                        field->vendor_name,

   329

                                        field->product_name, field->data_ptr,

   330

                                        field->field_name, field->field_index,

   331

                                        field->field_count))

   332

            return -1;

   333

   334

    return 0;

   335

}

   336

   337

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

   338

   339

/**

   340

   Setzt Prozessdaten-Kommandos in die Warteschlange des Masters.

   341

*/

   342

   343

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

   344

{

   345

    unsigned int i;

   346

    size_t size;

   347

    off_t offset;

   348

   349

    offset = 0;

   350

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

   351

        size = domain->data_size - offset;

   352

        if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE;

   353

        ec_command_init_lrw(domain->commands + i,

   354

                            domain->base_address + offset, size,

   355

                            domain->data + offset);

   356

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

   357

        offset += size;

   358

    }

   359

}

   360

   361

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

   362

   363

/**

   364

   Verarbeitet empfangene Prozessdaten.

   365

*/

   366

   367

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

   368

{

   369

    unsigned int working_counter_sum, i;

   370

    ec_command_t *command;

   371

    size_t size;

   372

    off_t offset;

   373

   374

    working_counter_sum = 0;

   375

   376

    offset = 0;

   377

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

   378

        command = domain->commands + i;

   379

        size = domain->data_size - offset;

   380

        if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE;

   381

        if (command->state == EC_CMD_RECEIVED) {

   382

            // Daten vom Kommando- in den Prozessdatenspeicher kopieren

   383

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

   384

            working_counter_sum += command->working_counter;

   385

        }

   386

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

   387

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

   388

        }

   389

        offset += size;

   390

    }

   391

   392

    ec_domain_response_count(domain, working_counter_sum);

   393

}

   394

   395

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

   396

   397

/**

   398

   Gibt den Status einer Domäne zurück.

   399

   400

   \return 0 wenn alle Kommandos empfangen wurden, sonst -1.

   401

*/

   402

   403

int ecrt_domain_state(ec_domain_t *domain /**< Domäne */)

   404

{

   405

    unsigned int i;

   406

    ec_command_t *command;

   407

   408

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

   409

        command = domain->commands + i;

   410

        if (command->state != EC_CMD_RECEIVED) return -1;

   411

    }

   412

   413

    return 0;

   414

}

   415

   416

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

   417

   418

EXPORT_SYMBOL(ecrt_domain_register_field);

   419

EXPORT_SYMBOL(ecrt_domain_register_field_list);

   420

EXPORT_SYMBOL(ecrt_domain_queue);

   421

EXPORT_SYMBOL(ecrt_domain_process);

   422

EXPORT_SYMBOL(ecrt_domain_state);

   423

   424

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

   425

   426

/* Emacs-Konfiguration

   427

;;; Local Variables: ***

   428

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

   429

;;; End: ***

   430

*/