domain.c

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/******************************************************************************
 *
 *  $Id: domain.c 490 2006-08-02 12:25:25Z fp $
 *
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it
 *  and/or modify it under the terms of the GNU General Public License
 *  as published by the Free Software Foundation; either version 2 of the
 *  License, or (at your option) any later version.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  The right to use EtherCAT Technology is granted and comes free of
 *  charge under condition of compatibility of product made by
 *  Licensee. People intending to distribute/sell products based on the
 *  code, have to sign an agreement to guarantee that products using
 *  software based on IgH EtherCAT master stay compatible with the actual
 *  EtherCAT specification (which are released themselves as an open
 *  standard) as the (only) precondition to have the right to use EtherCAT
 *  Technology, IP and trade marks.
 *
 *****************************************************************************/

/*****************************************************************************/

#include <linux/module.h>

#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 *);

/*****************************************************************************/

EC_SYSFS_READ_ATTR(image_size);

static struct attribute *def_attrs[] = {
    &attr_image_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
};

/*****************************************************************************/

int ec_domain_init(ec_domain_t *domain, 
                   ec_master_t *master, 
                   unsigned int 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->datagrams);

    // 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;
}

/*****************************************************************************/

void ec_domain_clear(struct kobject *kobj )
{
    ec_datagram_t *datagram, *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(datagram, next, &domain->datagrams, list) {
        ec_datagram_clear(datagram);
        kfree(datagram);
    }

    ec_domain_clear_field_regs(domain);

    kfree(domain);
}

/*****************************************************************************/

int ec_domain_reg_field(ec_domain_t *domain, 
                        ec_slave_t *slave, 
                        const ec_sync_t *sync, 
                        uint32_t field_offset, 
                        void **data_ptr 
                        )
{
    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;
}

/*****************************************************************************/

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);
    }
}

/*****************************************************************************/

int ec_domain_add_datagram(ec_domain_t *domain, 
                           uint32_t offset, 
                           size_t data_size 
                           )
{
    ec_datagram_t *datagram;

    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
        EC_ERR("Failed to allocate domain datagram!\n");
        return -1;
    }

    ec_datagram_init(datagram);

    if (ec_datagram_lrw(datagram, offset, data_size)) {
        kfree(datagram);
        return -1;
    }

    list_add_tail(&datagram->list, &domain->datagrams);
    return 0;
}

/*****************************************************************************/

int ec_domain_alloc(ec_domain_t *domain, 
                    uint32_t base_address 
                    )
{
    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, sync_size;
    ec_datagram_t *datagram;

    domain->base_address = base_address;

    // calculate size of process data and allocate memory
    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;
                sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
                domain->data_size += sync_size;
                if (cmd_data_size + sync_size > EC_MAX_DATA_SIZE) {
                    if (ec_domain_add_datagram(domain, cmd_offset,
                                               cmd_data_size)) return -1;
                    cmd_offset += cmd_data_size;
                    cmd_data_size = 0;
                    cmd_count++;
                }
                cmd_data_size += sync_size;
            }
        }
    }

    // allocate last datagram
    if (cmd_data_size) {
        if (ec_domain_add_datagram(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;
    }

    // set all process data pointers
    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;
                // search datagram
                list_for_each_entry(datagram, &domain->datagrams, list) {
                    field_off_cmd = field_off - datagram->address.logical;
                    if (field_off >= datagram->address.logical &&
                        field_off_cmd < datagram->mem_size) {
                        *field_reg->data_ptr = datagram->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 datagram%s\n",
            domain->index, domain->data_size, cmd_count,
            cmd_count == 1 ? "" : "s");

    ec_domain_clear_field_regs(domain);

    return 0;
}

/*****************************************************************************/

void ec_domain_response_count(ec_domain_t *domain, 
                              unsigned int count 
                              )
{
    if (count != domain->response_count) {
        domain->response_count = count;
        EC_INFO("Domain %i working counter change: %i\n", domain->index,
                count);
    }
}

/*****************************************************************************/

ssize_t ec_show_domain_attribute(struct kobject *kobj, 
                                 struct attribute *attr, 
                                 char *buffer 
                                 )
{
    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 0;
}

/******************************************************************************
 *  Realtime interface
 *****************************************************************************/

ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
                                       const char *address,
                                       const char *vendor_name,
                                       const char *product_name,
                                       void **data_ptr,
                                       const char *field_name,
                                       unsigned int field_index,
                                       unsigned int field_count
                                       )
{
    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;

    // translate address
    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) {
        // data_ptr is NULL => mark slave as "registered" (do not warn)
        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;
}

/*****************************************************************************/

int ecrt_domain_register_field_list(ec_domain_t *domain,
                                    const ec_field_init_t *fields
                                    )
{
    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;
}

/*****************************************************************************/

void ecrt_domain_queue(ec_domain_t *domain )
{
    ec_datagram_t *datagram;

    list_for_each_entry(datagram, &domain->datagrams, list) {
        ec_master_queue_datagram(domain->master, datagram);
    }
}

/*****************************************************************************/

void ecrt_domain_process(ec_domain_t *domain )
{
    unsigned int working_counter_sum;
    ec_datagram_t *datagram;

    working_counter_sum = 0;

    list_for_each_entry(datagram, &domain->datagrams, list) {
        if (datagram->state == EC_CMD_RECEIVED) {
            working_counter_sum += datagram->working_counter;
        }
    }

    ec_domain_response_count(domain, working_counter_sum);
}

/*****************************************************************************/

int ecrt_domain_state(ec_domain_t *domain )
{
    ec_datagram_t *datagram;

    list_for_each_entry(datagram, &domain->datagrams, list) {
        if (datagram->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);

/*****************************************************************************/

---