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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"
void ec_domain_clear_field_regs(ec_domain_t *);
/*****************************************************************************/
/**
Konstruktor einer EtherCAT-Domäne.
*/
void ec_domain_init(ec_domain_t *domain, /**< Domäne */
ec_master_t *master /**< Zugehöriger Master */
)
{
domain->master = master;
domain->data = NULL;
domain->data_size = 0;
domain->commands = NULL;
domain->command_count = 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 */)
{
if (domain->data) kfree(domain->data);
if (domain->commands) kfree(domain->commands);
ec_domain_clear_field_regs(domain);
}
/*****************************************************************************/
/**
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;
}
/*****************************************************************************/
/**
Gibt die Liste der registrierten Datenfelder frei.
*/
void ec_domain_clear_field_regs(ec_domain_t *domain)
{
ec_field_reg_t *field_reg, *next;
list_for_each_entry_safe(field_reg, next, &domain->field_regs, list) {
list_del(&field_reg->list);
kfree(field_reg);
}
}
/*****************************************************************************/
/**
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;
ec_slave_t *slave;
ec_fmmu_t *fmmu;
unsigned int i, j;
uint32_t 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);
ec_domain_clear_field_regs(domain);
return 0;
}
// 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) {
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;
break;
}
}
}
// Kommando-Array erzeugen
domain->command_count = domain->data_size / EC_MAX_DATA_SIZE + 1;
if (!(domain->commands = (ec_command_t *) kmalloc(sizeof(ec_command_t)
* domain->command_count,
GFP_KERNEL))) {
EC_ERR("Failed to allocate domain command array!\n");
return -1;
}
EC_INFO("Domain %X - Allocated %i bytes in %i command(s)\n",
(u32) domain, domain->data_size, domain->command_count);
ec_domain_clear_field_regs(domain);
return 0;
}
/*****************************************************************************/
/**
Gibt die Anzahl der antwortenden Slaves aus.
*/
void ec_domain_response_count(ec_domain_t *domain, /**< Domäne */
unsigned int count /**< Neue Anzahl */
)
{
if (count != domain->response_count) {
domain->response_count = count;
EC_INFO("Domain %08X state change - %i slave%s responding.\n",
(u32) domain, count, count == 1 ? "" : "s");
}
}
/******************************************************************************
*
* Echtzeitschnittstelle
*
*****************************************************************************/
/**
Registriert ein Datenfeld innerhalb einer Domäne.
- Ist \a data_ptr NULL, so wird der Slave nur auf den Typ überprüft.
- Wenn \a field_count 0 ist, wird angenommen, dass 1 Feld registriert werden
soll.
- Wenn \a field_count größer als 1 ist, wird angenommen, dass \a data_ptr
auf ein entsprechend großes Array zeigt.
\return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
/**< Domäne */
const char *address,
/**< ASCII-Addresse des Slaves,
siehe ec_master_slave_address() */
const char *vendor_name,
/**< Herstellername */
const char *product_name,
/**< Produktname */
void **data_ptr,
/**< Adresse des Zeigers auf die
Prozessdaten */
const char *field_name,
/**< Name 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 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_counter, i, j, orig_field_index, orig_field_count;
uint32_t field_offset;
master = domain->master;
// Adresse übersetzen
if (!(slave = ec_master_slave_address(master, address))) 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;
}
if (!data_ptr) {
// Wenn data_ptr NULL, Slave als registriert ansehen (nicht warnen).
slave->registered = 1;
}
if (!field_count) field_count = 1;
orig_field_index = field_index;
orig_field_count = field_count;
field_counter = 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 (!strcmp(field->name, field_name)) {
if (field_counter++ == field_index) {
if (data_ptr)
ec_domain_reg_field(domain, slave, sync, field_offset,
data_ptr++);
if (!(--field_count)) return slave;
field_index++;
}
}
field_offset += field->size;
}
}
EC_ERR("Slave %i (\"%s %s\") registration mismatch: Field \"%s\","
" index %i, count %i.\n", slave->ring_position, vendor_name,
product_name, field_name, orig_field_index, orig_field_count);
return NULL;
}
/*****************************************************************************/
/**
Registriert eine ganze Liste von Datenfeldern innerhalb einer Domäne.
Achtung: Die Liste muss mit einer NULL-Struktur ({}) abgeschlossen sein!
\return 0 bei Erfolg, sonst < 0
*/
int ecrt_domain_register_field_list(ec_domain_t *domain,
/**< Domäne */
ec_field_init_t *fields
/**< Array mit Datenfeldern */
)
{
ec_field_init_t *field;
for (field = fields; field->slave_address; field++)
if (!ecrt_domain_register_field(domain, field->slave_address,
field->vendor_name,
field->product_name, field->data_ptr,
field->field_name, field->field_index,
field->field_count))
return -1;
return 0;
}
/*****************************************************************************/
/**
Setzt Prozessdaten-Kommandos in die Warteschlange des Masters.
*/
void ecrt_domain_queue(ec_domain_t *domain /**< Domäne */)
{
unsigned int i;
size_t size;
off_t offset;
offset = 0;
for (i = 0; i < domain->command_count; i++) {
size = domain->data_size - offset;
if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE;
ec_command_init_lrw(domain->commands + i,
domain->base_address + offset, size,
domain->data + offset);
ec_master_queue_command(domain->master, domain->commands + i);
offset += size;
}
}
/*****************************************************************************/
/**
Verarbeitet empfangene Prozessdaten.
*/
void ecrt_domain_process(ec_domain_t *domain /**< Domäne */)
{
unsigned int working_counter_sum, i;
ec_command_t *command;
size_t size;
off_t offset;
working_counter_sum = 0;
offset = 0;
for (i = 0; i < domain->command_count; i++) {
command = domain->commands + i;
size = domain->data_size - offset;
if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE;
if (command->state == EC_CMD_RECEIVED) {
// Daten vom Kommando- in den Prozessdatenspeicher kopieren
memcpy(domain->data + offset, command->data, size);
working_counter_sum += command->working_counter;
}
else if (unlikely(domain->master->debug_level)) {
EC_DBG("process data command not received!\n");
}
offset += size;
}
ec_domain_response_count(domain, working_counter_sum);
}
/*****************************************************************************/
/**
Gibt den Status einer Domäne zurück.
\return 0 wenn alle Kommandos empfangen wurden, sonst -1.
*/
int ecrt_domain_state(ec_domain_t *domain /**< Domäne */)
{
unsigned int i;
ec_command_t *command;
for (i = 0; i < domain->command_count; i++) {
command = domain->commands + i;
if (command->state != EC_CMD_RECEIVED) return -1;
}
return 0;
}
/*****************************************************************************/
EXPORT_SYMBOL(ecrt_domain_register_field);
EXPORT_SYMBOL(ecrt_domain_register_field_list);
EXPORT_SYMBOL(ecrt_domain_queue);
EXPORT_SYMBOL(ecrt_domain_process);
EXPORT_SYMBOL(ecrt_domain_state);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/
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