author | Florian Pose <fp@igh-essen.com> |
Wed, 19 Jul 2006 13:18:35 +0000 | |
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parent 294 | feea8d850c65 |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT domain methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#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->datagrams); |
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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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113 |
Domain destructor. |
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114 |
*/ |
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115 |
|
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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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120 |
|
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domain = container_of(kobj, ec_domain_t, kobj); |
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122 |
|
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EC_INFO("Clearing domain %i.\n", domain->index); |
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124 |
|
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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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128 |
} |
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129 |
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ec_domain_clear_field_regs(domain); |
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131 |
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kfree(domain); |
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} |
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134 |
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/*****************************************************************************/ |
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136 |
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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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141 |
|
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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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|
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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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157 |
|
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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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163 |
|
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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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173 |
/*****************************************************************************/ |
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174 |
|
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/** |
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Clears the list of the registered data fields. |
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177 |
*/ |
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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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/** |
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Allocates a process data datagram 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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|
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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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199 |
) |
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200 |
{ |
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ec_datagram_t *datagram; |
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202 |
|
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if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) { |
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EC_ERR("Failed to allocate domain datagram!\n"); |
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return -1; |
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206 |
} |
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207 |
|
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ec_datagram_init(datagram); |
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209 |
|
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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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|
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list_add_tail(&datagram->list, &domain->datagrams); |
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return 0; |
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217 |
} |
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|
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/*****************************************************************************/ |
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220 |
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221 |
/** |
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222 |
Creates a domain. |
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223 |
Reserves domain memory, calculates the logical addresses of the |
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224 |
corresponding FMMUs and sets the process data pointer of the registered |
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225 |
data fields. |
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\return 0 in case of success, else < 0 |
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227 |
*/ |
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228 |
|
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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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231 |
) |
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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, sync_size; |
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ec_datagram_t *datagram; |
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241 |
|
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domain->base_address = base_address; |
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243 |
|
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// calculate size of process data and allocate memory |
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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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sync_size = ec_slave_calc_sync_size(slave, fmmu->sync); |
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domain->data_size += sync_size; |
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if (cmd_data_size + sync_size > EC_MAX_DATA_SIZE) { |
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if (ec_domain_add_datagram(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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262 |
} |
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cmd_data_size += sync_size; |
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} |
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265 |
} |
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} |
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267 |
|
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// allocate last datagram |
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if (cmd_data_size) { |
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if (ec_domain_add_datagram(domain, cmd_offset, cmd_data_size)) |
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return -1; |
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cmd_count++; |
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273 |
} |
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274 |
|
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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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279 |
} |
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280 |
|
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// set all process data pointers |
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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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286 |
field_off = fmmu->logical_start_address + |
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|
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field_reg->field_offset; |
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288 |
// search datagram |
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list_for_each_entry(datagram, &domain->datagrams, list) { |
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field_off_cmd = field_off - datagram->address.logical; |
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if (field_off >= datagram->address.logical && |
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field_off_cmd < datagram->mem_size) { |
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*field_reg->data_ptr = datagram->data + field_off_cmd; |
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294 |
} |
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295 |
} |
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296 |
if (!field_reg->data_ptr) { |
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297 |
EC_ERR("Failed to assign data pointer!\n"); |
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298 |
return -1; |
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299 |
} |
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300 |
break; |
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301 |
} |
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302 |
} |
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303 |
} |
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|
304 |
|
293
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|
305 |
EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s\n", |
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306 |
domain->index, domain->data_size, cmd_count, |
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|
307 |
cmd_count == 1 ? "" : "s"); |
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308 |
|
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309 |
ec_domain_clear_field_regs(domain); |
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310 |
|
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311 |
return 0; |
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312 |
} |
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|
313 |
|
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|
314 |
/*****************************************************************************/ |
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|
315 |
|
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|
316 |
/** |
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|
317 |
Sets the number of responding slaves and outputs it on demand. |
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|
318 |
This number isn't really the number of responding slaves, but the sum of |
293
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|
319 |
the working counters of all domain datagrams. Some slaves increase the |
195
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|
320 |
working counter by 2, some by 1. |
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|
321 |
*/ |
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|
322 |
|
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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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|
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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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|
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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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|
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return 0; |
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} |
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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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/** |
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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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|
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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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/**< data field name */ |
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unsigned int field_index, |
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/**< offset of data fields with |
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\a field_type */ |
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unsigned int field_count |
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/**< number of data fields (with |
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the same type) to register */ |
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) |
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{ |
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ec_slave_t *slave; |
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const ec_slave_type_t *type; |
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ec_master_t *master; |
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const ec_sync_t *sync; |
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const ec_field_t *field; |
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unsigned int field_counter, i, j, orig_field_index, orig_field_count; |
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uint32_t field_offset; |
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|
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master = domain->master; |
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|
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// translate address |
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if (!(slave = ecrt_master_get_slave(master, address))) return NULL; |
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|
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if (!(type = slave->type)) { |
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EC_ERR("Slave \"%s\" (position %i) has unknown type!\n", address, |
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slave->ring_position); |
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return NULL; |
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} |
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|
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if (strcmp(vendor_name, type->vendor_name) || |
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strcmp(product_name, type->product_name)) { |
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EC_ERR("Invalid slave type at position %i - Requested: \"%s %s\"," |
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" found: \"%s %s\".\n", slave->ring_position, vendor_name, |
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product_name, type->vendor_name, type->product_name); |
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return NULL; |
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} |
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|
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if (!data_ptr) { |
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// data_ptr is NULL => mark slave as "registered" (do not warn) |
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slave->registered = 1; |
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} |
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if (!field_count) field_count = 1; |
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orig_field_index = field_index; |
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orig_field_count = field_count; |
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field_counter = 0; |
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for (i = 0; type->sync_managers[i]; i++) { |
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430 |
sync = type->sync_managers[i]; |
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431 |
field_offset = 0; |
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432 |
for (j = 0; sync->fields[j]; j++) { |
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field = sync->fields[j]; |
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434 |
if (!strcmp(field->name, field_name)) { |
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435 |
if (field_counter++ == field_index) { |
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436 |
if (data_ptr) |
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437 |
ec_domain_reg_field(domain, slave, sync, field_offset, |
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438 |
data_ptr++); |
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|
439 |
if (!(--field_count)) return slave; |
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field_index++; |
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|
441 |
} |
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442 |
} |
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443 |
field_offset += field->size; |
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|
444 |
} |
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|
445 |
} |
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|
446 |
|
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447 |
EC_ERR("Slave %i (\"%s %s\") registration mismatch: Field \"%s\"," |
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448 |
" index %i, count %i.\n", slave->ring_position, vendor_name, |
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449 |
product_name, field_name, orig_field_index, orig_field_count); |
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|
450 |
return NULL; |
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|
451 |
} |
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|
452 |
|
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|
453 |
/*****************************************************************************/ |
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|
454 |
|
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|
455 |
/** |
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|
456 |
Registeres a bunch of data fields. |
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|
457 |
Caution! The list has to be terminated with a NULL structure ({})! |
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|
458 |
\return 0 in case of success, else < 0 |
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|
459 |
\ingroup RealtimeInterface |
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|
460 |
*/ |
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|
461 |
|
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|
462 |
int ecrt_domain_register_field_list(ec_domain_t *domain, |
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|
463 |
/**< EtherCAT domain */ |
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|
464 |
const ec_field_init_t *fields |
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|
465 |
/**< array of data field registrations */ |
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|
466 |
) |
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467 |
{ |
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468 |
const ec_field_init_t *field; |
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|
469 |
|
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|
470 |
for (field = fields; field->slave_address; field++) |
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471 |
if (!ecrt_domain_register_field(domain, field->slave_address, |
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472 |
field->vendor_name, |
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473 |
field->product_name, field->data_ptr, |
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474 |
field->field_name, field->field_index, |
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|
475 |
field->field_count)) |
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|
476 |
return -1; |
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|
477 |
|
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|
478 |
return 0; |
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|
479 |
} |
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|
480 |
|
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|
481 |
/*****************************************************************************/ |
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|
482 |
|
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|
483 |
/** |
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|
484 |
Places all process data datagrams in the masters datagram queue. |
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|
485 |
\ingroup RealtimeInterface |
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|
486 |
*/ |
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|
487 |
|
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|
488 |
void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */) |
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|
489 |
{ |
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|
490 |
ec_datagram_t *datagram; |
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|
491 |
|
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|
492 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
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|
493 |
ec_master_queue_datagram(domain->master, datagram); |
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|
494 |
} |
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|
495 |
} |
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|
496 |
|
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|
497 |
/*****************************************************************************/ |
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|
498 |
|
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|
499 |
/** |
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|
500 |
Processes received process data. |
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|
501 |
\ingroup RealtimeInterface |
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|
502 |
*/ |
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|
503 |
|
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|
504 |
void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */) |
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|
505 |
{ |
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|
506 |
unsigned int working_counter_sum; |
293
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|
507 |
ec_datagram_t *datagram; |
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|
508 |
|
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|
509 |
working_counter_sum = 0; |
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|
510 |
|
293
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|
511 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
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|
512 |
if (datagram->state == EC_CMD_RECEIVED) { |
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|
513 |
working_counter_sum += datagram->working_counter; |
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|
514 |
} |
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|
515 |
} |
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|
516 |
|
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|
517 |
ec_domain_response_count(domain, working_counter_sum); |
73
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|
518 |
} |
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|
519 |
|
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|
520 |
/*****************************************************************************/ |
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|
521 |
|
105
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|
522 |
/** |
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|
523 |
Returns the state of a domain. |
293
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|
524 |
\return 0 if all datagrams were received, else -1. |
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|
525 |
\ingroup RealtimeInterface |
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|
526 |
*/ |
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|
527 |
|
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|
528 |
int ecrt_domain_state(ec_domain_t *domain /**< EtherCAT domain */) |
105
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|
529 |
{ |
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|
530 |
ec_datagram_t *datagram; |
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|
531 |
|
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|
532 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
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|
533 |
if (datagram->state != EC_CMD_RECEIVED) return -1; |
105
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534 |
} |
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535 |
|
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return 0; |
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} |
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|
538 |
|
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539 |
/*****************************************************************************/ |
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|
540 |
|
199
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541 |
/** \cond */ |
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542 |
|
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543 |
EXPORT_SYMBOL(ecrt_domain_register_field); |
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544 |
EXPORT_SYMBOL(ecrt_domain_register_field_list); |
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545 |
EXPORT_SYMBOL(ecrt_domain_queue); |
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|
546 |
EXPORT_SYMBOL(ecrt_domain_process); |
105
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547 |
EXPORT_SYMBOL(ecrt_domain_state); |
42
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Domains, Warten beim Senden, 10kHz.
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|
548 |
|
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549 |
/** \endcond */ |
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550 |
|
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551 |
/*****************************************************************************/ |