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ethercat
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ethercat/master/domain.c

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/******************************************************************************
*
* d o m a i n . c
*
* Methoden für Gruppen von EtherCAT-Slaves.
*
* $Id$
*
*****************************************************************************/
#include "globals.h"
#include "domain.h"
#include "master.h"
/*****************************************************************************/
/**
Konstruktor einer EtherCAT-Domäne.
*/
void ec_domain_init(ec_domain_t *domain, /**< Domäne */
ec_master_t *master, /**< Zugehöriger Master */
ec_domain_mode_t mode, /**< Synchron/Asynchron */
unsigned int timeout_us /**< Timeout in Mikrosekunden */
)
{
domain->master = master;
domain->mode = mode;
domain->timeout_us = timeout_us;
domain->data = NULL;
domain->data_size = 0;
domain->base_address = 0;
domain->response_count = 0xFFFFFFFF;
INIT_LIST_HEAD(&domain->field_regs);
}
/*****************************************************************************/
/**
Destruktor einer EtherCAT-Domäne.
*/
void ec_domain_clear(ec_domain_t *domain /**< Domäne */)
{
ec_field_reg_t *field_reg, *next;
if (domain->data) {
kfree(domain->data);
domain->data = NULL;
}
// Liste der registrierten Datenfelder löschen
list_for_each_entry_safe(field_reg, next, &domain->field_regs, list) {
kfree(field_reg);
}
}
/*****************************************************************************/
/**
Registriert ein Feld in einer Domäne.
\return 0 bei Erfolg, < 0 bei Fehler
*/
int ec_domain_reg_field(ec_domain_t *domain, /**< Domäne */
ec_slave_t *slave, /**< Slave */
const ec_sync_t *sync, /**< Sync-Manager */
uint32_t field_offset, /**< Datenfeld-Offset */
void **data_ptr /**< Adresse des Prozessdatenzeigers */
)
{
ec_field_reg_t *field_reg;
if (!(field_reg = (ec_field_reg_t *) kmalloc(sizeof(ec_field_reg_t),
GFP_KERNEL))) {
EC_ERR("Failed to allocate field registration.\n");
return -1;
}
if (ec_slave_set_fmmu(slave, domain, sync)) {
EC_ERR("FMMU configuration failed.\n");
kfree(field_reg);
return -1;
}
field_reg->slave = slave;
field_reg->sync = sync;
field_reg->field_offset = field_offset;
field_reg->data_ptr = data_ptr;
list_add_tail(&field_reg->list, &domain->field_regs);
return 0;
}
/*****************************************************************************/
/**
Erzeugt eine Domäne.
Reserviert den Speicher einer Domäne, berechnet die logischen Adressen der
FMMUs und setzt die Prozessdatenzeiger der registrierten Felder.
\return 0 bei Erfolg, < 0 bei Fehler
*/
int ec_domain_alloc(ec_domain_t *domain, /**< Domäne */
uint32_t base_address /**< Logische Basisadresse */
)
{
ec_field_reg_t *field_reg, *next;
ec_slave_t *slave;
ec_fmmu_t *fmmu;
unsigned int i, j, found, data_offset;
if (domain->data) {
EC_ERR("Domain already allocated!\n");
return -1;
}
domain->base_address = base_address;
// Größe der Prozessdaten berechnen
// und logische Adressen der FMMUs setzen
domain->data_size = 0;
for (i = 0; i < domain->master->slave_count; i++) {
slave = &domain->master->slaves[i];
for (j = 0; j < slave->fmmu_count; j++) {
fmmu = &slave->fmmus[j];
if (fmmu->domain == domain) {
fmmu->logical_start_address = base_address + domain->data_size;
domain->data_size += fmmu->sync->size;
}
}
}
if (!domain->data_size) {
EC_WARN("Domain 0x%08X contains no data!\n", (u32) domain);
}
else {
// Prozessdaten allozieren
if (!(domain->data = kmalloc(domain->data_size, GFP_KERNEL))) {
EC_ERR("Failed to allocate domain data!\n");
return -1;
}
// Prozessdaten mit Nullen vorbelegen
memset(domain->data, 0x00, domain->data_size);
// Alle Prozessdatenzeiger setzen
list_for_each_entry(field_reg, &domain->field_regs, list) {
found = 0;
for (i = 0; i < field_reg->slave->fmmu_count; i++) {
fmmu = &field_reg->slave->fmmus[i];
if (fmmu->domain == domain && fmmu->sync == field_reg->sync) {
data_offset = fmmu->logical_start_address - base_address
+ field_reg->field_offset;
*field_reg->data_ptr = domain->data + data_offset;
found = 1;
break;
}
}
if (!found) { // Sollte nie passieren
EC_ERR("FMMU not found. Please report!\n");
return -1;
}
}
}
// Registrierungsliste wird jetzt nicht mehr gebraucht.
list_for_each_entry_safe(field_reg, next, &domain->field_regs, list) {
kfree(field_reg);
}
INIT_LIST_HEAD(&domain->field_regs); // wichtig!
return 0;
}
/******************************************************************************
*
* Echtzeitschnittstelle
*
*****************************************************************************/
/**
Registriert ein Datenfeld innerhalb einer Domäne.
\return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
ec_slave_t *EtherCAT_rt_register_slave_field(
ec_domain_t *domain, /**< Domäne */
const char *address, /**< ASCII-Addresse des Slaves, siehe ec_address() */
const char *vendor_name, /**< Herstellername */
const char *product_name, /**< Produktname */
void **data_ptr, /**< Adresse des Zeigers auf die Prozessdaten */
ec_field_type_t field_type, /**< Typ des Datenfeldes */
unsigned int field_index, /**< Gibt an, ab welchem Feld mit Typ
\a field_type gezählt werden soll. */
unsigned int field_count /**< Anzahl Felder des selben Typs */
)
{
ec_slave_t *slave;
const ec_slave_type_t *type;
ec_master_t *master;
const ec_sync_t *sync;
const ec_field_t *field;
unsigned int field_idx, i, j;
uint32_t field_offset;
if (!field_count) {
EC_ERR("field_count may not be 0!\n");
return NULL;
}
master = domain->master;
// Adresse übersetzen
if ((slave = ec_address(master, address)) == NULL) return NULL;
if (!(type = slave->type)) {
EC_ERR("Slave \"%s\" (position %i) has unknown type!\n", address,
slave->ring_position);
return NULL;
}
if (strcmp(vendor_name, type->vendor_name) ||
strcmp(product_name, type->product_name)) {
EC_ERR("Invalid slave type at position %i - Requested: \"%s %s\","
" found: \"%s %s\".\n", slave->ring_position, vendor_name,
product_name, type->vendor_name, type->product_name);
return NULL;
}
field_idx = 0;
for (i = 0; type->sync_managers[i]; i++) {
sync = type->sync_managers[i];
field_offset = 0;
for (j = 0; sync->fields[j]; j++) {
field = sync->fields[j];
if (field->type == field_type) {
if (field_idx == field_index) {
ec_domain_reg_field(domain, slave, sync, field_offset,
data_ptr++);
if (!(--field_count)) return slave;
}
field_idx++;
}
field_offset += field->size;
}
}
EC_ERR("Slave %i (\"%s %s\") registration mismatch: Type %i, index %i,"
" count %i.\n", slave->ring_position, vendor_name, product_name,
field_type, field_index, field_count);
return NULL;
}
/*****************************************************************************/
/**
Sendet und empfängt Prozessdaten der angegebenen Domäne.
\return 0 bei Erfolg, sonst < 0
*/
int EtherCAT_rt_domain_xio(ec_domain_t *domain /**< Domäne */)
{
unsigned int offset, size, working_counter_sum;
unsigned long start_ticks, end_ticks, timeout_ticks;
ec_master_t *master;
ec_frame_t *frame;
master = domain->master;
frame = &domain->frame;
working_counter_sum = 0;
ec_output_lost_frames(master); // Evtl. verlorene Frames ausgeben
rdtscl(start_ticks); // Sendezeit nehmen
timeout_ticks = domain->timeout_us * cpu_khz / 1000;
offset = 0;
while (offset < domain->data_size)
{
size = domain->data_size - offset;
if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE;
ec_frame_init_lrw(frame, master, domain->base_address + offset, size,
domain->data + offset);
if (unlikely(ec_frame_send(frame) < 0)) {
EC_ERR("Could not send process data command!\n");
return -1;
}
// Warten
do {
ec_device_call_isr(&master->device);
rdtscl(end_ticks); // Empfangszeit nehmen
}
while (unlikely(master->device.state == EC_DEVICE_STATE_SENT
&& end_ticks - start_ticks < timeout_ticks));
master->bus_time = (end_ticks - start_ticks) * 1000 / cpu_khz;
if (unlikely(end_ticks - start_ticks >= timeout_ticks)) {
master->device.state = EC_DEVICE_STATE_READY;
master->frames_lost++;
ec_output_lost_frames(master);
return -1;
}
if (unlikely(ec_frame_receive(frame) < 0)) {
EC_ERR("Receiving process data failed!\n");
return -1;
}
working_counter_sum += frame->working_counter;
// Daten vom Rahmen in den Prozessdatenspeicher kopieren
memcpy(domain->data + offset, frame->data, size);
offset += size;
}
if (working_counter_sum != domain->response_count) {
domain->response_count = working_counter_sum;
EC_INFO("Domain %08X state change - %i slaves responding.\n",
(u32) domain, working_counter_sum);
}
return 0;
}
/*****************************************************************************/
EXPORT_SYMBOL(EtherCAT_rt_register_slave_field);
EXPORT_SYMBOL(EtherCAT_rt_domain_xio);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/
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