master/slave.c
author Florian Pose <fp@igh-essen.com>
Tue, 04 Sep 2012 14:19:06 +0200
changeset 2411 01370d59233d
parent 2045 ff2a13a4603c
child 2589 2b9c78543663
permissions -rw-r--r--
Malformed hg keywords.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "slave_config.h"
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#include "slave.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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char *ec_slave_sii_string(ec_slave_t *, unsigned int);
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/*****************************************************************************/
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/**
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   Slave constructor.
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   \return 0 in case of success, else < 0
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*/
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void ec_slave_init(
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        ec_slave_t *slave, /**< EtherCAT slave */
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        ec_master_t *master, /**< EtherCAT master */
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        uint16_t ring_position, /**< ring position */
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        uint16_t station_address /**< station address to configure */
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        )
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{
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    unsigned int i;
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    int ret;
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    slave->master = master;
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    slave->ring_position = ring_position;
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    slave->station_address = station_address;
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    slave->effective_alias = 0x0000;
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    slave->config = NULL;
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    slave->requested_state = EC_SLAVE_STATE_PREOP;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->error_flag = 0;
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    slave->force_config = 0;
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    slave->configured_rx_mailbox_offset = 0x0000;
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    slave->configured_rx_mailbox_size = 0x0000;
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    slave->configured_tx_mailbox_offset = 0x0000;
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    slave->configured_tx_mailbox_size = 0x0000;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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    slave->base_fmmu_count = 0;
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    slave->base_sync_count = 0;
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    for (i = 0; i < EC_MAX_PORTS; i++) {
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        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;
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        slave->ports[i].link.link_up = 0;
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        slave->ports[i].link.loop_closed = 0;
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        slave->ports[i].link.signal_detected = 0;
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        slave->sii.physical_layer[i] = 0xFF;
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        slave->ports[i].receive_time = 0U;
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        slave->ports[i].next_slave = NULL;
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        slave->ports[i].delay_to_next_dc = 0U;
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    }
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    slave->base_fmmu_bit_operation = 0;
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    slave->base_dc_supported = 0;
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    slave->base_dc_range = EC_DC_32;
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    slave->has_dc_system_time = 0;
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    slave->transmission_delay = 0U;
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    slave->sii_words = NULL;
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    slave->sii_nwords = 0;
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    slave->sii.alias = 0x0000;
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    slave->sii.vendor_id = 0x00000000;
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    slave->sii.product_code = 0x00000000;
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    slave->sii.revision_number = 0x00000000;
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    slave->sii.serial_number = 0x00000000;
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    slave->sii.boot_rx_mailbox_offset = 0x0000;
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    slave->sii.boot_rx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   123
    slave->sii.boot_tx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   124
    slave->sii.boot_tx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   125
    slave->sii.std_rx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   126
    slave->sii.std_rx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   127
    slave->sii.std_tx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   128
    slave->sii.std_tx_mailbox_size = 0x0000;
834
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   129
    slave->sii.mailbox_protocols = 0;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   130
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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diff changeset
   131
    slave->sii.strings = NULL;
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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diff changeset
   132
    slave->sii.string_count = 0;
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   133
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   134
    slave->sii.has_general = 0;
834
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   135
    slave->sii.group = NULL;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   136
    slave->sii.image = NULL;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   137
    slave->sii.order = NULL;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   138
    slave->sii.name = NULL;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   139
    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836
860a5bacea6a Display notLRW flag.
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parents: 835
diff changeset
   140
    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   141
    slave->sii.current_on_ebus = 0;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   142
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   143
    slave->sii.syncs = NULL;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   144
    slave->sii.sync_count = 0;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   145
834
0791aac03180 Separated SII data from slave.
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diff changeset
   146
    INIT_LIST_HEAD(&slave->sii.pdos);
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   147
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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parents: 133
diff changeset
   148
    INIT_LIST_HEAD(&slave->sdo_dictionary);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   149
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   150
    slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
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parents: 418
diff changeset
   151
    slave->jiffies_preop = 0;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   152
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   153
    INIT_LIST_HEAD(&slave->slave_sdo_requests);
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   154
    init_waitqueue_head(&slave->sdo_queue);
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   155
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   156
    INIT_LIST_HEAD(&slave->foe_requests);
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   157
    init_waitqueue_head(&slave->foe_queue);
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   158
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   159
    INIT_LIST_HEAD(&slave->soe_requests);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   160
    init_waitqueue_head(&slave->soe_queue);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   161
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   162
    // init datagram
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   163
    ec_datagram_init(&slave->datagram);
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   164
    snprintf(slave->datagram.name, EC_DATAGRAM_NAME_SIZE,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   165
            "slave%u-fsm", slave->ring_position);
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   166
    ret = ec_datagram_prealloc(&slave->datagram, EC_MAX_DATA_SIZE);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   167
    if (ret < 0) {
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   168
        ec_datagram_clear(&slave->datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   169
        EC_SLAVE_ERR(slave, "Failed to allocate FSM datagram.\n");
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   170
        return;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   171
    }
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   172
    ec_mbox_init(&slave->mbox,&slave->datagram);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   173
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   174
    // create state machine object
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   175
    ec_fsm_slave_init(&slave->fsm, slave, &slave->mbox);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   176
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   177
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   178
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 55
diff changeset
   179
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   180
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   181
   Slave destructor.
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   182
   Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   183
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   184
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   185
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   186
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   187
    ec_sdo_t *sdo, *next_sdo;
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   188
    unsigned int i;
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   189
    ec_pdo_t *pdo, *next_pdo;
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   190
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   191
    // abort all pending requests
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   192
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   193
    while (!list_empty(&slave->slave_sdo_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   194
        ec_master_sdo_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   195
            list_entry(slave->slave_sdo_requests.next,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   196
                ec_master_sdo_request_t, list);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   197
        list_del_init(&request->list); // dequeue
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 1998
diff changeset
   198
        EC_SLAVE_WARN(slave, "Discarding SDO request %p,"
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 1998
diff changeset
   199
                " slave about to be deleted.\n",request);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   200
        request->req.state = EC_INT_REQUEST_FAILURE;
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 1998
diff changeset
   201
        kref_put(&request->refcount,ec_master_sdo_request_release);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   202
        wake_up(&slave->sdo_queue);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   203
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   204
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   205
    while (!list_empty(&slave->foe_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   206
        ec_master_foe_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   207
            list_entry(slave->foe_requests.next,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   208
                ec_master_foe_request_t, list);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   209
        list_del_init(&request->list); // dequeue
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   210
        EC_SLAVE_WARN(slave, "Discarding FoE request,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   211
                " slave about to be deleted.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   212
        request->req.state = EC_INT_REQUEST_FAILURE;
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   213
        kref_put(&request->refcount,ec_master_foe_request_release);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   214
        wake_up(&slave->foe_queue);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   215
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   216
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   217
    while (!list_empty(&slave->soe_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   218
        ec_master_soe_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   219
            list_entry(slave->soe_requests.next,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   220
                ec_master_soe_request_t, list);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   221
        list_del_init(&request->list); // dequeue
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   222
        EC_SLAVE_WARN(slave, "Discarding SoE request,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   223
                " slave about to be deleted.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   224
        request->req.state = EC_INT_REQUEST_FAILURE;
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   225
        kref_put(&request->refcount,ec_master_soe_request_release);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   226
        wake_up(&slave->soe_queue);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   227
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   228
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   229
    if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   230
        ec_slave_config_detach(slave->config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   231
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   232
    // free all SDOs
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   233
    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   234
        list_del(&sdo->list);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   235
        ec_sdo_clear(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   236
        kfree(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   237
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   238
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   239
    // free all strings
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   240
    if (slave->sii.strings) {
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   241
        for (i = 0; i < slave->sii.string_count; i++)
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   242
            kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   243
        kfree(slave->sii.strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   244
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   245
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   246
    // free all sync managers
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   247
    ec_slave_clear_sync_managers(slave);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   248
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   249
    // free all SII PDOs
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   250
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   251
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   252
        ec_pdo_clear(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   253
        kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   254
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   255
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
   256
    if (slave->sii_words)
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
   257
        kfree(slave->sii_words);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   258
    ec_fsm_slave_clear(&slave->fsm);
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2032
diff changeset
   259
    ec_mbox_clear(&slave->mbox);
482
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   260
}
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   261
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   262
/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   263
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   264
/** Clear the sync manager array. 
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   265
 */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   266
void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   267
{
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   268
    unsigned int i;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   269
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   270
    if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   271
        for (i = 0; i < slave->sii.sync_count; i++) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   272
            ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   273
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   274
        kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   275
        slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   276
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   277
}
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   278
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   279
/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   280
482
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   281
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   282
 * Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   283
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   284
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   285
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   286
        ec_slave_state_t new_state /**< new application state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   287
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   288
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   289
    if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   290
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   291
            char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   292
                cur_state[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   293
            ec_state_string(slave->current_state, old_state, 0);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   294
            ec_state_string(new_state, cur_state, 0);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   295
            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   296
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   297
        slave->current_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   298
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   299
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   300
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   301
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   302
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   303
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   304
 * Request a slave state and resets the error flag.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   305
 */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   306
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   307
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   308
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   309
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   310
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   311
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   312
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   313
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   314
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   315
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   316
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   317
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   318
   Fetches data from a STRING category.
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   319
   \todo range checking
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   320
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   321
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   322
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   323
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   324
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   325
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   326
        size_t data_size /**< number of bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   327
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   328
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   329
    int i, err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   330
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   331
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   332
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   333
    slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   334
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   335
    if (slave->sii.string_count) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   336
        if (!(slave->sii.strings =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   337
                    kmalloc(sizeof(char *) * slave->sii.string_count,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   338
                        GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   339
            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   340
            err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   341
            goto out_zero;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   342
        }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   343
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   344
        offset = 1;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   345
        for (i = 0; i < slave->sii.string_count; i++) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   346
            size = data[offset];
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   347
            // allocate memory for string structure and data at a single blow
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   348
            if (!(slave->sii.strings[i] =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   349
                        kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   350
                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   351
                err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   352
                goto out_free;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   353
            }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   354
            memcpy(slave->sii.strings[i], data + offset + 1, size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   355
            slave->sii.strings[i][size] = 0x00; // append binary zero
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   356
            offset += 1 + size;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   357
        }
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   358
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   359
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   360
    return 0;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   361
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   362
out_free:
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   363
    for (i--; i >= 0; i--)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   364
        kfree(slave->sii.strings[i]);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   365
    kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   366
    slave->sii.strings = NULL;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   367
out_zero:
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   368
    slave->sii.string_count = 0;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   369
    return err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   370
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   371
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   372
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   373
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   374
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   375
   Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   376
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   377
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   378
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   379
int ec_slave_fetch_sii_general(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   380
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   381
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   382
        size_t data_size /**< size in bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   383
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   384
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   385
    unsigned int i;
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   386
    uint8_t flags;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   387
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   388
    if (data_size != 32) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   389
        EC_SLAVE_ERR(slave, "Wrong size of general category (%zu/32).\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   390
                data_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   391
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   392
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   393
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   394
    slave->sii.group = ec_slave_sii_string(slave, data[0]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   395
    slave->sii.image = ec_slave_sii_string(slave, data[1]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   396
    slave->sii.order = ec_slave_sii_string(slave, data[2]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   397
    slave->sii.name = ec_slave_sii_string(slave, data[3]);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   398
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   399
    for (i = 0; i < 4; i++)
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   400
        slave->sii.physical_layer[i] =
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   401
            (data[4] & (0x03 << (i * 2))) >> (i * 2);
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   402
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   403
    // read CoE details
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   404
    flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   405
    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   406
    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   407
    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   408
    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   409
    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   410
    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   411
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   412
    // read general flags
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   413
    flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   414
    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   415
    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   416
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   417
    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   418
    slave->sii.has_general = 1;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   419
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   420
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   421
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   422
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   423
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   424
/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   425
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   426
 * Appends the sync managers described in the category to the existing ones.
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   427
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   428
 * \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   429
 */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   430
int ec_slave_fetch_sii_syncs(
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   431
        ec_slave_t *slave, /**< EtherCAT slave. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   432
        const uint8_t *data, /**< Category data. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   433
        size_t data_size /**< Number of bytes. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   434
        )
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   435
{
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   436
    unsigned int i, count, total_count;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   437
    ec_sync_t *sync;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   438
    size_t memsize;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   439
    ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   440
    uint8_t index;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   441
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   442
    // one sync manager struct is 4 words long
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   443
    if (data_size % 8) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   444
        EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   445
                data_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   446
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   447
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   448
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   449
    count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   450
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   451
    if (count) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   452
        total_count = count + slave->sii.sync_count;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   453
        if (total_count > EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   454
            EC_SLAVE_ERR(slave, "Exceeded maximum number of"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   455
                    " sync managers!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   456
            return -EOVERFLOW;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   457
        }
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   458
        memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   459
        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   460
            EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   461
                    " for sync managers.\n", memsize);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   462
            return -ENOMEM;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   463
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   464
873
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   465
        for (i = 0; i < slave->sii.sync_count; i++)
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   466
            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   467
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   468
        // initialize new sync managers
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   469
        for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   470
            index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   471
            sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   472
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   473
            ec_sync_init(sync, slave);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   474
            sync->physical_start_address = EC_READ_U16(data);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   475
            sync->default_length = EC_READ_U16(data + 2);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   476
            sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   477
            sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   478
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   479
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   480
        if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   481
            kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   482
        slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   483
        slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   484
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   485
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   486
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   487
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   488
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   489
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   490
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   491
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   492
   Fetches data from a [RT]xPDO category.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   493
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   494
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   495
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   496
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   497
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   498
        const uint8_t *data, /**< category data */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   499
        size_t data_size, /**< number of bytes */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   500
        ec_direction_t dir /**< PDO direction. */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   501
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   502
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   503
    int ret;
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   504
    ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   505
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   506
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   507
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   508
    while (data_size >= 8) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   509
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   510
            EC_SLAVE_ERR(slave, "Failed to allocate PDO memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   511
            return -ENOMEM;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   512
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   513
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   514
        ec_pdo_init(pdo);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   515
        pdo->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   516
        entry_count = EC_READ_U8(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   517
        pdo->sync_index = EC_READ_U8(data + 3);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   518
        ret = ec_pdo_set_name(pdo,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   519
                ec_slave_sii_string(slave, EC_READ_U8(data + 5)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   520
        if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   521
            ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   522
            kfree(pdo);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   523
            return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   524
        }
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   525
        list_add_tail(&pdo->list, &slave->sii.pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   526
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   527
        data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   528
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   529
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   530
        for (i = 0; i < entry_count; i++) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   531
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   532
                EC_SLAVE_ERR(slave, "Failed to allocate PDO entry memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   533
                return -ENOMEM;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   534
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   535
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   536
            ec_pdo_entry_init(entry);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   537
            entry->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   538
            entry->subindex = EC_READ_U8(data + 2);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   539
            ret = ec_pdo_entry_set_name(entry,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   540
                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   541
            if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   542
                ec_pdo_entry_clear(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   543
                kfree(entry);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   544
                return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   545
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   546
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   547
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   548
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   549
            data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   550
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   551
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   552
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   553
        // if sync manager index is positive, the PDO is mapped by default
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   554
        if (pdo->sync_index >= 0) {
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   555
            ec_sync_t *sync;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   556
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   557
            if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   558
                EC_SLAVE_ERR(slave, "Invalid SM index %i for PDO 0x%04X.",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   559
                        pdo->sync_index, pdo->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   560
                return -ENOENT;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   561
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   562
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   563
            ret = ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   564
            if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   565
                return ret;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   566
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   567
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   568
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   569
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   570
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   571
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   572
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   573
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   574
/**
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   575
   Searches the string list for an index.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   576
   \return 0 in case of success, else < 0
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   577
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   578
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   579
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   580
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   581
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   582
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   583
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   584
    if (!index--) 
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   585
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   586
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   587
    if (index >= slave->sii.string_count) {
1924
2917b262554b Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   588
        EC_SLAVE_DBG(slave, 1, "String %u not found.\n", index);
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   589
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   590
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   591
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   592
    return slave->sii.strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   593
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   594
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   595
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   596
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   597
/** Get the sync manager given an index.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   598
 *
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   599
 * \return pointer to sync manager, or NULL.
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   600
 */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   601
ec_sync_t *ec_slave_get_sync(
912
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   602
        ec_slave_t *slave, /**< EtherCAT slave. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   603
        uint8_t sync_index /**< Sync manager index. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   604
        )
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   605
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   606
    if (sync_index < slave->sii.sync_count) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   607
        return &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   608
    } else {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   609
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   610
    }
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   611
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   612
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   613
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   614
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   615
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   616
   Counts the total number of SDOs and entries in the dictionary.
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   617
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   618
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   619
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   620
                            unsigned int *sdo_count, /**< number of SDOs */
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   621
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   622
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   623
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   624
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   625
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   626
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   627
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   628
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   629
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   630
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   631
        list_for_each_entry(entry, &sdo->entries, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   632
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   633
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   634
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   635
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   636
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   637
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   638
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   639
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   640
/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   641
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   642
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   643
 * Get an SDO from the dictionary.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   644
 * \returns The desired SDO, or NULL.
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   645
 */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   646
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   647
ec_sdo_t *ec_slave_get_sdo(
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   648
        ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   649
        uint16_t index /**< SDO index */
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   650
        )
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   651
{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   652
    ec_sdo_t *sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   653
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   654
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   655
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   656
            continue;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   657
        return sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   658
    }
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   659
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   660
    return NULL;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   661
}
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   662
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   663
/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   664
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   665
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   666
 * Get an SDO from the dictionary.
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   667
 *
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   668
 * const version.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   669
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   670
 * \returns The desired SDO, or NULL.
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   671
 */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   672
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   673
const ec_sdo_t *ec_slave_get_sdo_const(
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   674
        const ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   675
        uint16_t index /**< SDO index */
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   676
        )
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   677
{
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   678
    const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   679
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   680
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   681
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   682
            continue;
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   683
        return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   684
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   685
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   686
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   687
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   688
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   689
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   690
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   691
/** Get an SDO from the dictionary, given its position in the list.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   692
 * \returns The desired SDO, or NULL.
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   693
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   694
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   695
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   696
        const ec_slave_t *slave, /**< EtherCAT slave. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   697
        uint16_t sdo_position /**< SDO list position. */
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   698
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   699
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   700
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   701
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   702
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   703
        if (sdo_position--)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   704
            continue;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   705
        return sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   706
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   707
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   708
    return NULL;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   709
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   710
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   711
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   712
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   713
/** Get the number of SDOs in the dictionary.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   714
 * \returns SDO count.
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   715
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   716
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   717
uint16_t ec_slave_sdo_count(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   718
        const ec_slave_t *slave /**< EtherCAT slave. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   719
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   720
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   721
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   722
    uint16_t count = 0;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   723
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   724
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   725
        count++;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   726
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   727
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   728
    return count;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   729
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   730
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   731
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   732
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   733
/** Finds a mapped PDO.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   734
 * \returns The desired PDO object, or NULL.
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   735
 */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   736
const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   737
        const ec_slave_t *slave, /**< Slave. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   738
        uint16_t index /**< PDO index to find. */
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   739
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   740
{
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   741
    unsigned int i;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   742
    const ec_sync_t *sync;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   743
    const ec_pdo_t *pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   744
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   745
    for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   746
        sync = &slave->sii.syncs[i];
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   747
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 876
diff changeset
   748
        if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   749
            continue;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   750
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   751
        return pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   752
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   753
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   754
    return NULL;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   755
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   756
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   757
/*****************************************************************************/
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   758
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   759
/** Find name for a PDO and its entries.
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   760
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   761
void ec_slave_find_names_for_pdo(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   762
        ec_slave_t *slave,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   763
        ec_pdo_t *pdo
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   764
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   765
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   766
    const ec_sdo_t *sdo;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   767
    ec_pdo_entry_t *pdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   768
    const ec_sdo_entry_t *sdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   769
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   770
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   771
        if (sdo->index == pdo->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   772
            ec_pdo_set_name(pdo, sdo->name);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   773
        } else {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   774
            list_for_each_entry(pdo_entry, &pdo->entries, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   775
                if (sdo->index == pdo_entry->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   776
                    sdo_entry = ec_sdo_get_entry_const(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   777
                            sdo, pdo_entry->subindex);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   778
                    if (sdo_entry) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   779
                        ec_pdo_entry_set_name(pdo_entry,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   780
                                sdo_entry->description);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   781
                    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   782
                }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   783
            }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   784
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   785
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   786
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   787
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   788
/*****************************************************************************/
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   789
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   790
/** Attach PDO names.
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   791
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   792
void ec_slave_attach_pdo_names(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   793
        ec_slave_t *slave
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   794
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   795
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   796
    unsigned int i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   797
    ec_sync_t *sync;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   798
    ec_pdo_t *pdo;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   799
    
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   800
    for (i = 0; i < slave->sii.sync_count; i++) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   801
        sync = slave->sii.syncs + i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   802
        list_for_each_entry(pdo, &sync->pdos.list, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   803
            ec_slave_find_names_for_pdo(slave, pdo);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   804
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   805
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   806
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   807
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   808
/*****************************************************************************/
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   809
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   810
/** returns the previous connected port of a given port.
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   811
 */
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   812
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   813
unsigned int ec_slave_get_previous_port(
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   814
    ec_slave_t *slave, /**< EtherCAT slave. */
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   815
    unsigned int i /**< Port index */
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   816
    )
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   817
{
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   818
    do
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   819
    {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   820
        switch (i)
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   821
        {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   822
        case 0: i = 2; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   823
        case 1: i = 3; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   824
        case 2: i = 1; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   825
        case 3:
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   826
        default:i = 0; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   827
        }
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   828
        if (slave->ports[i].next_slave)
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   829
            return i;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   830
    } while (i);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   831
    return 0;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   832
}
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   833
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   834
/*****************************************************************************/
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   835
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   836
/** returns the next connected port of a given port.
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   837
 */
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   838
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   839
unsigned int ec_slave_get_next_port(
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   840
    ec_slave_t *slave, /**< EtherCAT slave. */
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   841
    unsigned int i /**< Port index */
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   842
    )
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   843
{
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   844
    do
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   845
    {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   846
        switch (i)
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   847
        {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   848
        case 0: i = 3; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   849
        case 1: i = 2; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   850
        case 3: i = 1; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   851
        case 2:
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   852
        default:i = 0; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   853
        }
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   854
        if (slave->ports[i].next_slave)
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   855
            return i;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   856
    } while (i);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   857
    return 0;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   858
}
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   859
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   860
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   861
/*****************************************************************************/
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   862
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   863
/** Calculates the sum of round-trip-times of connected ports 1-3.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   864
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   865
uint32_t ec_slave_calc_rtt_sum(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   866
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   867
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   868
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   869
    uint32_t rtt_sum = 0, rtt;
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   870
    unsigned int i = ec_slave_get_next_port(slave,0);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   871
    while (i != 0) {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   872
        rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   873
        rtt_sum += rtt;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   874
        i = ec_slave_get_next_port(slave,i);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   875
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   876
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   877
    return rtt_sum;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   878
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   879
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   880
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   881
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   882
/** Finds the next slave supporting DC delay measurement.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   883
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   884
ec_slave_t *ec_slave_find_next_dc_slave(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   885
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   886
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   887
{
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   888
    unsigned int i;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   889
    ec_slave_t *dc_slave = NULL;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   890
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   891
    if (slave->base_dc_supported) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   892
        dc_slave = slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   893
    } else {
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   894
        i = ec_slave_get_next_port(slave,0);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   895
        while (i != 0) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   896
            ec_slave_t *next = slave->ports[i].next_slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   897
            if (next) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   898
                dc_slave = ec_slave_find_next_dc_slave(next);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   899
                if (dc_slave)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   900
                    break;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   901
            }
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   902
            i = ec_slave_get_next_port(slave,i);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   903
        }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   904
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   905
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   906
    return dc_slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   907
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   908
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   909
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   910
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   911
/** Calculates the port transmission delays.
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   912
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   913
void ec_slave_calc_port_delays(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   914
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   915
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   916
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   917
    unsigned int i;
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   918
    ec_slave_t *next_dc;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   919
    uint32_t rtt, next_rtt_sum;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   920
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   921
    if (!slave->base_dc_supported)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   922
        return;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   923
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   924
    i = ec_slave_get_next_port(slave,0);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   925
    while (i != 0) {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   926
        next_dc = ec_slave_find_next_dc_slave(slave->ports[i].next_slave);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   927
        if (next_dc) {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   928
            rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   929
            next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   930
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   931
            slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   932
            next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   933
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   934
#if 0
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   935
            EC_SLAVE_DBG(slave, 1, "delay %u:%u rtt=%u"
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   936
                    " next_rtt_sum=%u delay=%u\n",
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   937
                    slave->ring_position, i, rtt, next_rtt_sum,
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   938
                    slave->ports[i].delay_to_next_dc);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   939
#endif
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   940
        }
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   941
        i = ec_slave_get_next_port(slave,i);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   942
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   943
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   944
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   945
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   946
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   947
/** Recursively calculates transmission delays.
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   948
 */
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   949
void ec_slave_calc_transmission_delays_rec(
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   950
        ec_slave_t *slave, /**< Current slave. */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   951
        uint32_t *delay /**< Sum of delays. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   952
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   953
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   954
    unsigned int i;
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   955
    ec_slave_t *next_dc;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   956
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   957
#if 1
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   958
    EC_SLAVE_DBG(slave, 1, "%u\n", *delay);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   959
#endif
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   960
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   961
    slave->transmission_delay = *delay;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   962
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   963
    i = ec_slave_get_next_port(slave,0);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   964
    while (i != 0) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   965
        ec_slave_port_t *port = &slave->ports[i];
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   966
        next_dc = ec_slave_find_next_dc_slave(port->next_slave);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   967
        if (next_dc) {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   968
            *delay = *delay + port->delay_to_next_dc;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   969
#if 0
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   970
            EC_SLAVE_DBG(slave, 1, "%u:%u %u\n", slave->ring_position, i, *delay);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   971
#endif
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   972
            ec_slave_calc_transmission_delays_rec(next_dc, delay);
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   973
        }
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1924
diff changeset
   974
        i = ec_slave_get_next_port(slave,i);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   975
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   976
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   977
    *delay = *delay + slave->ports[0].delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   978
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   979
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   980
/*****************************************************************************/