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ethercat
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Esthetic surgery for domain.

This commit is contained in:
Florian Pose 2008-02-01 20:58:57 +00:00
parent dee00c2095
commit 52e374dd95
1 changed files with 33 additions and 38 deletions
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71
master/domain.c
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@ -118,7 +118,7 @@ int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */
kobject_init(&domain->kobj);
domain->kobj.ktype = &ktype_ec_domain;
domain->kobj.parent = &master->kobj;
if (kobject_set_name(&domain->kobj, "domain%i", index)) {
if (kobject_set_name(&domain->kobj, "domain%u", index)) {
EC_ERR("Failed to set kobj name.\n");
kobject_put(&domain->kobj);
return -1;
@ -228,7 +228,6 @@ out:
data_reg->sync_offset = byte_offset;
data_reg->data_ptr = data_ptr;
list_add_tail(&data_reg->list, &domain->data_regs);
return 0;
}
@ -337,43 +336,41 @@ int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
datagram_count++;
}
if (!datagram_count) {
EC_WARN("Domain %i contains no data!\n", domain->index);
ec_domain_clear_data_regs(domain);
return 0;
}
// set all process data pointers
list_for_each_entry(data_reg, &domain->data_regs, list) {
for (i = 0; i < data_reg->slave->fmmu_count; i++) {
fmmu = &data_reg->slave->fmmus[i];
if (fmmu->domain == domain && fmmu->sync == data_reg->sync) {
pdo_off = fmmu->logical_start_address + data_reg->sync_offset;
// search datagram
list_for_each_entry(datagram, &domain->datagrams, list) {
log_addr = EC_READ_U32(datagram->address);
pdo_off_datagram = pdo_off - log_addr;
if (pdo_off >= log_addr &&
pdo_off_datagram < datagram->mem_size) {
*data_reg->data_ptr = datagram->data +
pdo_off_datagram;
if (datagram_count) {
// set all process data pointers
list_for_each_entry(data_reg, &domain->data_regs, list) {
for (i = 0; i < data_reg->slave->fmmu_count; i++) {
fmmu = &data_reg->slave->fmmus[i];
if (fmmu->domain == domain && fmmu->sync == data_reg->sync) {
pdo_off =
fmmu->logical_start_address + data_reg->sync_offset;
// search datagram
list_for_each_entry(datagram, &domain->datagrams, list) {
log_addr = EC_READ_U32(datagram->address);
pdo_off_datagram = pdo_off - log_addr;
if (pdo_off >= log_addr &&
pdo_off_datagram < datagram->mem_size) {
*data_reg->data_ptr = datagram->data +
pdo_off_datagram;
}
}
if (!data_reg->data_ptr) {
EC_ERR("Failed to assign data pointer!\n");
return -1;
}
break;
}
if (!data_reg->data_ptr) {
EC_ERR("Failed to assign data pointer!\n");
return -1;
}
break;
}
}
EC_INFO("Domain %u - Allocated %u bytes in %u datagram%s.\n",
domain->index, domain->data_size, datagram_count,
datagram_count == 1 ? "" : "s");
} else { // !datagram_count
EC_WARN("Domain %u contains no data!\n", domain->index);
}
EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s.\n",
domain->index, domain->data_size, datagram_count,
datagram_count == 1 ? "" : "s");
ec_domain_clear_data_regs(domain);
return 0;
}
@ -392,7 +389,7 @@ ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
if (attr == &attr_image_size) {
return sprintf(buffer, "%i\n", domain->data_size);
return sprintf(buffer, "%u\n", domain->data_size);
}
return 0;
@ -428,12 +425,10 @@ int ecrt_domain_register_pdo(
list_for_each_entry(entry, &pdo->entries, list) {
if (entry->index != pdo_entry_index ||
entry->subindex != pdo_entry_subindex) continue;
// PDO entry found
if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) {
return -1;
}
return 0;
}
}
@ -524,7 +519,7 @@ int ecrt_domain_register_pdo_range(
if (sync->est_length < sync_length) {
sync->est_length = sync_length;
if (domain->master->debug_level) {
EC_DBG("Estimating length of sync manager %i of slave %i to %i.\n",
EC_DBG("Estimating length of sync manager %u of slave %u to %u.\n",
sync->index, slave->ring_position, sync_length);
}
}
@ -566,11 +561,11 @@ void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
jiffies - domain->notify_jiffies > HZ) {
domain->notify_jiffies = jiffies;
if (domain->working_counter_changes == 1) {
EC_INFO("Domain %i working counter change: %i\n", domain->index,
EC_INFO("Domain %u working counter change: %u\n", domain->index,
domain->response_count);
}
else {
EC_INFO("Domain %i: %u WC changes. Current response count: %i\n",
EC_INFO("Domain %u: %u WC changes. Current response count: %u\n",
domain->index, domain->working_counter_changes,
domain->response_count);
}