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

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 *

     3

 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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

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

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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

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

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 *

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT domain methods.

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*/

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

    40

    41

#include <linux/module.h>

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    43

#include "globals.h"

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#include "domain.h"

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#include "master.h"

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    47

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

    48

    49

/**

    50

   Data registration type.

    51

*/

    52

    53

typedef struct

    54

{

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

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    ec_slave_t *slave; /**< slave */

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    const ec_sync_t *sync; /**< sync manager */

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    off_t sync_offset; /**< pdo offset */

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    void **data_ptr; /**< pointer to process data pointer(s) */

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}

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ec_data_reg_t;

    62

    63

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

    64

    65

void ec_domain_clear(struct kobject *);

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void ec_domain_clear_data_regs(ec_domain_t *);

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ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);

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    69

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

    70

    71

/** \cond */

    72

    73

EC_SYSFS_READ_ATTR(image_size);

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    75

static struct attribute *def_attrs[] = {

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    &attr_image_size,

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    NULL,

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};

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    80

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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    85

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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};

    90

    91

/** \endcond */

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

    94

    95

/**

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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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   100

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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    domain->notify_jiffies = 0;

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    domain->working_counter_changes = 0;

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    INIT_LIST_HEAD(&domain->data_regs);

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    INIT_LIST_HEAD(&domain->datagrams);

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   116

    // 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%u", index)) {

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        EC_ERR("Failed to set kobj name.\n");

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        kobject_put(&domain->kobj);

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        return -1;

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    }

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    if (kobject_add(&domain->kobj)) {

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        EC_ERR("Failed to add domain kobject.\n");

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        kobject_put(&domain->kobj);

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        return -1;

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    }

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   132

    return 0;

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}

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   135

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

   136

   137

/**

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   Domain destructor.

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   Clears and frees a domain object.

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*/

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   142

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

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{

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    ec_datagram_t *datagram;

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    // dequeue datagrams

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

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

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            list_del_init(&datagram->queue);

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    }

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    // destroy self

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    kobject_del(&domain->kobj);

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    kobject_put(&domain->kobj);

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}

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   157

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

   158

   159

/**

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   Clear and free domain.

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   This method is called by the kobject,

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   once there are no more references to it.

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*/

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   165

void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)

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{

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    ec_datagram_t *datagram, *next;

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    ec_domain_t *domain;

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   170

    domain = container_of(kobj, ec_domain_t, kobj);

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

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        ec_datagram_clear(datagram);

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        kfree(datagram);

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    }

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    ec_domain_clear_data_regs(domain);

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    kfree(domain);

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}

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   182

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

   183

   184

/**

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 * Registers a PDO entry.

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 * \return 0 in case of success, else < 0

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 */

   188

   189

int ec_domain_reg_pdo_entry(

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

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        ec_sync_t *sync, /**< sync manager */

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        const ec_pdo_entry_t *entry, /**< PDO entry to register */

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        void **data_ptr /**< pointer to the process data pointer */

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        )

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{

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    ec_data_reg_t *data_reg;

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    const ec_pdo_t *other_pdo;

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    const ec_pdo_entry_t *other_entry;

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    unsigned int bit_offset, byte_offset;

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   201

    // Calculate offset (in sync manager) for process data pointer

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    bit_offset = 0;

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    list_for_each_entry(other_pdo, &sync->pdos, list) {

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        list_for_each_entry(other_entry, &other_pdo->entries, list) {

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            if (other_entry == entry)

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                goto out;

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            bit_offset += other_entry->bit_length;

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        }

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    }

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out:

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    byte_offset = bit_offset / 8;

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   213

    // Allocate memory for data registration object

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    if (!(data_reg =

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          (ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) {

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

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        return -1;

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    }

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    if (ec_slave_prepare_fmmu(sync->slave, domain, sync)) {

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

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        kfree(data_reg);

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        return -1;

   224

    }

   225

   226

    data_reg->slave = sync->slave;

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    data_reg->sync = sync;

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    data_reg->sync_offset = byte_offset;

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    data_reg->data_ptr = data_ptr;

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    list_add_tail(&data_reg->list, &domain->data_regs);

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    return 0;

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}

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   234

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

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   236

/**

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   Clears the list of the data registrations.

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*/

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   240

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

   241

{

   242

    ec_data_reg_t *data_reg, *next;

   243

   244

    list_for_each_entry_safe(data_reg, next, &domain->data_regs, list) {

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        list_del(&data_reg->list);

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        kfree(data_reg);

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    }

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}

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   250

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

   251

   252

/**

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   Allocates a process data datagram and appends it to the list.

   254

   \return 0 in case of success, else < 0

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*/

   256

   257

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

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                           uint32_t offset, /**< logical offset */

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                           size_t data_size /**< size of the datagram data */

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                           )

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{

   262

    ec_datagram_t *datagram;

   263

   264

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

   265

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

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        return -1;

   267

    }

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   269

    ec_datagram_init(datagram);

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    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,

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

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   273

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

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        kfree(datagram);

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        return -1;

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    }

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

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    return 0;

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}

   281

   282

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

   283

   284

/**

   285

   Creates a domain.

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   Reserves domain memory, calculates the logical addresses of the

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   corresponding FMMUs and sets the process data pointer of the registered

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   process data.

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   \return 0 in case of success, else < 0

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*/

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   292

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

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                    uint32_t base_address /**< logical base address */

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                    )

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{

   296

    ec_data_reg_t *data_reg;

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    ec_slave_t *slave;

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    ec_fmmu_t *fmmu;

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    unsigned int i, j, datagram_count;

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    uint32_t pdo_off, pdo_off_datagram;

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    uint32_t datagram_offset, log_addr;

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    size_t datagram_data_size, sync_size;

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    ec_datagram_t *datagram;

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   305

    domain->base_address = base_address;

   306

   307

    // calculate size of process data and allocate memory

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    domain->data_size = 0;

   309

    datagram_offset = base_address;

   310

    datagram_data_size = 0;

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    datagram_count = 0;

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

   313

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

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            fmmu = &slave->fmmus[j];

   315

            if (fmmu->domain == domain) {

   316

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

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                sync_size = ec_sync_size(fmmu->sync);

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                domain->data_size += sync_size;

   319

                if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {

   320

                    if (ec_domain_add_datagram(domain, datagram_offset,

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                                               datagram_data_size)) return -1;

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                    datagram_offset += datagram_data_size;

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                    datagram_data_size = 0;

   324

                    datagram_count++;

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                }

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                datagram_data_size += sync_size;

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            }

   328

        }

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    }

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   331

    // allocate last datagram

   332

    if (datagram_data_size) {

   333

        if (ec_domain_add_datagram(domain, datagram_offset,

   334

                                   datagram_data_size))

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            return -1;

   336

        datagram_count++;

   337

    }

   338

   339

    if (datagram_count) {

   340

        // set all process data pointers

   341

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

   342

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

   343

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

   344

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

   345

                    pdo_off =

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                        fmmu->logical_start_address + data_reg->sync_offset;

   347

                    // search datagram

   348

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

   349

                        log_addr = EC_READ_U32(datagram->address);

   350

                        pdo_off_datagram = pdo_off - log_addr;

   351

                        if (pdo_off >= log_addr &&

   352

                                pdo_off_datagram < datagram->mem_size) {

   353

                            *data_reg->data_ptr = datagram->data +

   354

                                pdo_off_datagram;

   355

                        }

   356

                    }

   357

                    if (!data_reg->data_ptr) {

   358

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

   359

                        return -1;

   360

                    }

   361

                    break;

   362

                }

   363

            }

   364

        }

   365

   366

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

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

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

   369

    } else { // !datagram_count

   370

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

   371

    }

   372

   373

    ec_domain_clear_data_regs(domain);

   374

    return 0;

   375

}

   376

   377

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

   378

   379

/**

   380

   Formats attribute data for SysFS reading.

   381

   \return number of bytes to read

   382

*/

   383

   384

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

   385

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

   386

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

   387

                                 )

   388

{

   389

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

   390

   391

    if (attr == &attr_image_size) {

   392

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

   393

    }

   394

   395

    return 0;

   396

}

   397

   398

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

   399

 *  Realtime interface

   400

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

   401

   402

/**

   403

 * Registers a PDO for a domain.

   404

 * \return 0 on success, else non-zero

   405

 * \ingroup RealtimeInterface

   406

 */

   407

   408

int ecrt_domain_register_pdo(

   409

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

   410

        ec_slave_t *slave, /**< EtherCAT slave */

   411

        uint16_t pdo_entry_index, /**< PDO entry index */

   412

        uint8_t pdo_entry_subindex, /**< PDO entry subindex */

   413

        void **data_ptr /**< address of the process data pointer */

   414

        )

   415

{

   416

    ec_sync_t *sync;

   417

    const ec_pdo_t *pdo;

   418

    const ec_pdo_entry_t *entry;

   419

    unsigned int i;

   420

   421

    // search for PDO entry

   422

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

   423

        sync = &slave->sii_syncs[i];

   424

        list_for_each_entry(pdo, &sync->pdos, list) {

   425

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

   426

                if (entry->index != pdo_entry_index ||

   427

                        entry->subindex != pdo_entry_subindex) continue;

   428

                // PDO entry found

   429

                if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) {

   430

                    return -1;

   431

                }

   432

                return 0;

   433

            }

   434

        }

   435

    }

   436

   437

    EC_ERR("PDO entry 0x%04X:%u is not mapped in slave %u.\n",

   438

           pdo_entry_index, pdo_entry_subindex, slave->ring_position);

   439

    return -1;

   440

}

   441

   442

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

   443

   444

/**

   445

 * Registers a bunch of data fields.

   446

 * \attention The list has to be terminated with a NULL structure ({})!

   447

 * \return 0 in case of success, else < 0

   448

 * \ingroup RealtimeInterface

   449

 */

   450

   451

int ecrt_domain_register_pdo_list(

   452

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

   453

        const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */

   454

        )

   455

{

   456

    const ec_pdo_reg_t *reg;

   457

    ec_slave_t *slave;

   458

   459

    for (reg = pdo_regs; reg->slave_address; reg++) {

   460

        if (!(slave = ecrt_master_get_slave(domain->master,

   461

                        reg->slave_address, reg->vendor_id,

   462

                        reg->product_code)))

   463

            return -1;

   464

   465

        if (ecrt_domain_register_pdo(domain, slave, reg->pdo_entry_index,

   466

                    reg->pdo_entry_subindex, reg->data_ptr))

   467

            return -1;

   468

    }

   469

   470

    return 0;

   471

}

   472

   473

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

   474

   475

/**

   476

 * Registers a PDO range in a domain.

   477

 * \return 0 on success, else non-zero

   478

 * \ingroup RealtimeInterface

   479

 */

   480

   481

int ecrt_domain_register_pdo_range(

   482

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

   483

        ec_slave_t *slave, /**< EtherCAT slave */

   484

        ec_direction_t dir, /**< data direction */

   485

        uint16_t offset, /**< offset in slave's PDO range */

   486

        uint16_t length, /**< length of this range */

   487