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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"
/*****************************************************************************/
void ec_domain_clear_field_regs(ec_domain_t *);
ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);
/*****************************************************************************/
static struct attribute attr_data_size = {
.name = "data_size",
.owner = THIS_MODULE,
.mode = S_IRUGO
};
static struct attribute *def_attrs[] = {
&attr_data_size,
NULL,
};
static struct sysfs_ops sysfs_ops = {
.show = &ec_show_domain_attribute,
.store = NULL
};
static struct kobj_type ktype_ec_domain = {
.release = ec_domain_clear,
.sysfs_ops = &sysfs_ops,
.default_attrs = def_attrs
};
/*****************************************************************************/
/**
Konstruktor einer EtherCAT-Domäne.
*/
int ec_domain_init(ec_domain_t *domain, /**< Domäne */
ec_master_t *master, /**< Zugehöriger Master */
unsigned int index /**< Domänen-Index */
)
{
domain->master = master;
domain->index = index;
domain->data_size = 0;
domain->base_address = 0;
domain->response_count = 0xFFFFFFFF;
INIT_LIST_HEAD(&domain->field_regs);
INIT_LIST_HEAD(&domain->commands);
// Init kobject and add it to the hierarchy
memset(&domain->kobj, 0x00, sizeof(struct kobject));
kobject_init(&domain->kobj);
domain->kobj.ktype = &ktype_ec_domain;
domain->kobj.parent = &master->kobj;
if (kobject_set_name(&domain->kobj, "domain%i", index)) {
EC_ERR("Failed to set kobj name.\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Destruktor einer EtherCAT-Domäne.
*/
void ec_domain_clear(struct kobject *kobj /**< Kobject der Domäne */)
{
ec_command_t *command, *next;
ec_domain_t *domain;
domain = container_of(kobj, ec_domain_t, kobj);
EC_INFO("Clearing domain %i.\n", domain->index);
list_for_each_entry_safe(command, next, &domain->commands, list) {
ec_command_clear(command);
kfree(command);
}
ec_domain_clear_field_regs(domain);
kfree(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_prepare_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);
}
}
/*****************************************************************************/
/**
Alloziert ein Prozessdatenkommando und fügt es in die Liste ein.
*/
int ec_domain_add_command(ec_domain_t *domain, /**< Domäne */
uint32_t offset, /**< Logisches Offset */
size_t data_size /**< Größe der Kommando-Daten */
)
{
ec_command_t *command;
if (!(command = kmalloc(sizeof(ec_command_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate domain command!\n");
return -1;
}
ec_command_init(command);
if (ec_command_lrw(command, offset, data_size)) {
kfree(command);
return -1;
}
list_add_tail(&command->list, &domain->commands);
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;
ec_slave_t *slave;
ec_fmmu_t *fmmu;
unsigned int i, j, cmd_count;
uint32_t field_off, field_off_cmd;
uint32_t cmd_offset;
size_t cmd_data_size;
ec_command_t *command;
domain->base_address = base_address;
// Größe der Prozessdaten berechnen und Kommandos allozieren
domain->data_size = 0;
cmd_offset = base_address;
cmd_data_size = 0;
cmd_count = 0;
list_for_each_entry(slave, &domain->master->slaves, list) {
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 (cmd_data_size + fmmu->sync->size > EC_MAX_DATA_SIZE) {
if (ec_domain_add_command(domain, cmd_offset,
cmd_data_size)) return -1;
cmd_offset += cmd_data_size;
cmd_data_size = 0;
cmd_count++;
}
cmd_data_size += fmmu->sync->size;
}
}
}
// Letztes Kommando allozieren
if (cmd_data_size) {
if (ec_domain_add_command(domain, cmd_offset, cmd_data_size))
return -1;
cmd_count++;
}
if (!cmd_count) {
EC_WARN("Domain %i contains no data!\n", domain->index);
ec_domain_clear_field_regs(domain);
return 0;
}
// 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) {
field_off = fmmu->logical_start_address +
field_reg->field_offset;
// Kommando suchen
list_for_each_entry(command, &domain->commands, list) {
field_off_cmd = field_off - command->address.logical;
if (field_off >= command->address.logical &&
field_off_cmd < command->mem_size) {
*field_reg->data_ptr = command->data + field_off_cmd;
}
}
if (!field_reg->data_ptr) {
EC_ERR("Failed to assign data pointer!\n");
return -1;
}
break;
}
}
}
EC_INFO("Domain %i - Allocated %i bytes in %i command%s\n",
domain->index, domain->data_size, cmd_count,
cmd_count == 1 ? "" : "s");
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 %i working counter change: %i\n", domain->index, count);
}
}
/*****************************************************************************/
/**
Formatiert Attribut-Daten für lesenden Zugriff im SysFS
\return Anzahl Bytes im Speicher
*/
ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< KObject */
struct attribute *attr, /**< Attribut */
char *buffer /**< Speicher für die Daten */
)
{
ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
if (attr == &attr_data_size) {
return sprintf(buffer, "%i\n", domain->data_size);
}
return 0;
}
/******************************************************************************
*
* 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 ecrt_master_get_slave() */
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 = ecrt_master_get_slave(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 */
const ec_field_init_t *fields
/**< Array mit Datenfeldern */
)
{
const 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 */)
{
ec_command_t *command;
list_for_each_entry(command, &domain->commands, list) {
ec_master_queue_command(domain->master, command);
}
}
/*****************************************************************************/
/**
Verarbeitet empfangene Prozessdaten.
*/
void ecrt_domain_process(ec_domain_t *domain /**< Domäne */)
{
unsigned int working_counter_sum;
ec_command_t *command;
working_counter_sum = 0;
list_for_each_entry(command, &domain->commands, list) {
if (command->state == EC_CMD_RECEIVED) {
working_counter_sum += command->working_counter;
}
}
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 */)
{
ec_command_t *command;
list_for_each_entry(command, &domain->commands, list) {
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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