etherlabmaster: master/slave.c@017fa8fd9ac1 (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	3	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	28	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	29
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	30	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	31	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	32	EtherCAT slave methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	33	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	37	#include <linux/module.h>
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	38	#include <linux/delay.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	39
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	40	#include "globals.h"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	41	#include "datagram.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	42	#include "master.h"
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	43	#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	44
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	45	#include "slave.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	46
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	47	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	48
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	49	extern const ec_code_msg_t al_status_messages[];
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	50
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	51	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	52
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	53	char ec_slave_sii_string(ec_slave_t , unsigned int);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	54
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	55	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	56
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	57	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	58	Slave constructor.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	59	\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	60	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	61
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	62	void ec_slave_init(
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	63	ec_slave_t slave, /< EtherCAT slave /
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	64	ec_master_t master, /< EtherCAT master /
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	65	uint16_t ring_position, /*< ring position /
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	66	uint16_t station_address /*< station address to configure /
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	67	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	68	{
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	69	unsigned int i;
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	70	int ret;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	71
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	72	slave->master = master;
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	73	slave->ring_position = ring_position;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	74	slave->station_address = station_address;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	75
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	76	slave->config = NULL;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	77	slave->requested_state = EC_SLAVE_STATE_PREOP;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	78	slave->current_state = EC_SLAVE_STATE_UNKNOWN;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	79	slave->error_flag = 0;
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	80	slave->force_config = 0;
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	81	slave->configured_rx_mailbox_offset = 0x0000;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	82	slave->configured_rx_mailbox_size = 0x0000;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	83	slave->configured_tx_mailbox_offset = 0x0000;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	84	slave->configured_tx_mailbox_size = 0x0000;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	85
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	86	slave->base_type = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	87	slave->base_revision = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	88	slave->base_build = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	89	slave->base_fmmu_count = 0;
1379 cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	90	slave->base_sync_count = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	91
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	92	for (i = 0; i < EC_MAX_PORTS; i++) {
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	93	slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	94
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	95	slave->ports[i].link.link_up = 0;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	96	slave->ports[i].link.loop_closed = 0;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	97	slave->ports[i].link.signal_detected = 0;
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	98	slave->sii.physical_layer[i] = 0xFF;
1420 5eb814732c46 Measure port receive times. Florian Pose <fp@igh-essen.com> parents: 1419 diff changeset	99
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	100	slave->ports[i].receive_time = 0U;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	101
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	102	slave->ports[i].next_slave = NULL;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	103	slave->ports[i].delay_to_next_dc = 0U;
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	104	}
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	105
1379 cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	106	slave->base_fmmu_bit_operation = 0;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	107	slave->base_dc_supported = 0;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	108	slave->base_dc_range = EC_DC_32;
1419 8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph. Florian Pose <fp@igh-essen.com> parents: 1379 diff changeset	109	slave->has_dc_system_time = 0;
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	110	slave->transmission_delay = 0U;
1379 cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	111
977 167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	112	slave->sii_words = NULL;
167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	113	slave->sii_nwords = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	114
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	115	slave->sii.alias = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	116	slave->sii.vendor_id = 0x00000000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	117	slave->sii.product_code = 0x00000000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	118	slave->sii.revision_number = 0x00000000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	119	slave->sii.serial_number = 0x00000000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	120	slave->sii.boot_rx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	121	slave->sii.boot_rx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	122	slave->sii.boot_tx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	123	slave->sii.boot_tx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	124	slave->sii.std_rx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	125	slave->sii.std_rx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	126	slave->sii.std_tx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	127	slave->sii.std_tx_mailbox_size = 0x0000;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	128	slave->sii.mailbox_protocols = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	129
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	130	slave->sii.strings = NULL;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	131	slave->sii.string_count = 0;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	132
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	133	slave->sii.has_general = 0;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	134	slave->sii.group = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	135	slave->sii.image = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	136	slave->sii.order = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	137	slave->sii.name = NULL;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	138	memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836 860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	139	memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	140	slave->sii.current_on_ebus = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	141
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	142	slave->sii.syncs = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	143	slave->sii.sync_count = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	144
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	145	INIT_LIST_HEAD(&slave->sii.pdos);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	146
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	147	INIT_LIST_HEAD(&slave->sdo_dictionary);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	148
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	149	slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	150	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	151
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	// init state machine datagram
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	153	ec_datagram_init(&slave->fsm_datagram);
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	154	snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);
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	155	ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);
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	156	if (ret < 0) {
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	157	ec_datagram_clear(&slave->fsm_datagram);
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	158	EC_ERR("Failed to allocate Slave %u FSM datagram.\n",slave->ring_position);
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	159	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	160	}
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	161
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	162	// create state machine object
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	163	ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);
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	164
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	165	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	166
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	167	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	168
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	169	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	170	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	171	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	172	*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	173
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	174	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	175	{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	176	ec_sdo_t sdo, next_sdo;
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	177	unsigned int i;
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	178	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	179
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	180	if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	181	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	182
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	183	// 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	184	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	185	list_del(&sdo->list);
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	186	ec_sdo_clear(sdo);
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	187	kfree(sdo);
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	188	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	189
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	190	// free all strings
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	191	if (slave->sii.strings) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	192	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	193	kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	194	kfree(slave->sii.strings);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	195	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	196
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	197	// free all sync managers
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	198	ec_slave_clear_sync_managers(slave);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	199
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	200	// free all SII PDOs
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	201	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	202	list_del(&pdo->list);
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	203	ec_pdo_clear(pdo);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	204	kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	205	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	206
977 167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	207	if (slave->sii_words)
167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	208	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	209	ec_fsm_slave_clear(&slave->fsm);
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	210	ec_datagram_clear(&slave->fsm_datagram);
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	211
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	212	}
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	213
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	214	/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	215
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	216	/** Clear the sync manager array.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	217	*/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	218	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	219	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	220	unsigned int i;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	221
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	222	if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	223	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	224	ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	225	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	226	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	227	slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	228	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	229	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	230
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	231	/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	232
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	233	/**
610 29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	234	* 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	235	*/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	236
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	237	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	238	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	239	)
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	240	{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	241	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	242	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	243	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	244	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	245	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	246	ec_state_string(new_state, cur_state, 0);
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	247	EC_DBG("Slave %u: %s -> %s.\n",
610 29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	248	slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	249	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	250	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	251	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	252	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	253
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	254	/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	255
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	256	/**
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	257	* Request a slave state and resets the error flag.
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	258	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	259
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	260	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	261	ec_slave_state_t state /*< new state /
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	262	)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	263	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	264	slave->requested_state = state;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	265	slave->error_flag = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	266	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	267
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	268	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	269
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	270	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	271	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	272	\todo range checking
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	273	\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	274	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	275
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	276	int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	277	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	278	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	279	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	280	)
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	281	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	282	int i, err;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	283	size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	284	off_t offset;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	285
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	286	slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	287
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	288	if (slave->sii.string_count) {
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	289	if (!(slave->sii.strings =
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	290	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	291	GFP_KERNEL))) {
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	292	EC_ERR("Failed to allocate string array memory.\n");
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	293	err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	294	goto out_zero;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	295	}
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	296
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	297	offset = 1;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	298	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	299	size = data[offset];
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	300	// 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	301	if (!(slave->sii.strings[i] =
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	302	kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	303	EC_ERR("Failed to allocate string memory.\n");
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	304	err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	305	goto out_free;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	306	}
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	307	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	308	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	309	offset += 1 + size;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	310	}
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	311	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	312
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	313	return 0;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	314
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	315	out_free:
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	316	for (i--; i >= 0; i--)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	317	kfree(slave->sii.strings[i]);
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	318	kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	319	slave->sii.strings = NULL;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	320	out_zero:
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	321	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	322	return err;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	323	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	324
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	325	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	326
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	327	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	328	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	329	\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	330	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	331
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	332	int ec_slave_fetch_sii_general(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	333	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	334	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	335	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	336	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	337	{
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	338	unsigned int i;
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	339	uint8_t flags;
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	340
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	341	if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	342	EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	343	data_size, slave->ring_position);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	344	return -EINVAL;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	345	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	346
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	347	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	348	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	349	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	350	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	351
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	352	for (i = 0; i < 4; i++)
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	353	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	354	(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	355
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	356	// read CoE details
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	357	flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	358	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	359	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	360	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	361	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	362	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	363	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	364
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	365	// read general flags
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	366	flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	367	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	368	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	369
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	370	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	371	slave->sii.has_general = 1;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	372	return 0;
118 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
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	375	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	376
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	377	/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	378	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	379	* 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	380	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	381	* \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	382	*/
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	383	int ec_slave_fetch_sii_syncs(
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	384	ec_slave_t slave, /< EtherCAT slave. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	385	const uint8_t data, /< Category data. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	386	size_t data_size /*< Number of bytes. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	387	)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	388	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	389	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	390	ec_sync_t *sync;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	391	size_t memsize;
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	392	ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	393	uint8_t index;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	394
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	395	// 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	396	if (data_size % 8) {
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	397	EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	398	data_size, slave->ring_position);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	399	return -EINVAL;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	400	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	401
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	402	count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	403
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	404	if (count) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	405	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	406	if (total_count > EC_MAX_SYNC_MANAGERS) {
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	407	EC_ERR("Exceeded maximum number of sync managers!\n");
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	408	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	409	}
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	410	memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	411	if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	412	EC_ERR("Failed to allocate %u bytes for sync managers.\n",
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	413	memsize);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	414	return -ENOMEM;
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	415	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	416
873 ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	417	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	418	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	419
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	420	// initialize new sync managers
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	421	for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	422	index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	423	sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	424
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	425	ec_sync_init(sync, slave);
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	426	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	427	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	428	sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	429	sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	430	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	431
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	432	if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	433	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	434	slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	435	slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	436	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	437
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	438	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	439	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	440
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	441	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	442
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	443	/**
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	444	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	445	\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	446	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	447
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	448	int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	449	ec_slave_t slave, /< EtherCAT slave /
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	450	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	451	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	452	ec_direction_t dir /*< PDO direction. /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	453	)
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	454	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	455	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	456	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	457	ec_pdo_entry_t *entry;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	458	unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	459
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	460	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	461	if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	462	EC_ERR("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	463	return -ENOMEM;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	464	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	465
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	466	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	467	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	468	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	469	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	470	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	471	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	472	if (ret) {
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	473	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	474	kfree(pdo);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	475	return ret;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	476	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	477	list_add_tail(&pdo->list, &slave->sii.pdos);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	478
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	479	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	480	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	481
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	482	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	483	if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	484	EC_ERR("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	485	return -ENOMEM;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	486	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	487
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	488	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	489	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	490	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	491	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	492	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	493	if (ret) {
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	494	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	495	kfree(entry);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	496	return ret;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	497	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	498	entry->bit_length = EC_READ_U8(data + 5);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	499	list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	500
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	501	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	502	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	503	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	504
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	505	// 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	506	if (pdo->sync_index >= 0) {
762 15214036c72a Store PDO mapping source in sync manager. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	507	ec_sync_t *sync;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	508
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	509	if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	510	EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	511	pdo->sync_index, pdo->index, slave->ring_position);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	512	return -ENOENT;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	513	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	514
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	515	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	516	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1186 diff changeset	517	return ret;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	518	}
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	519	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	520
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	521	return 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	522	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	523
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	524	/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	525
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	526	/**
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	527	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	528	\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	529	*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	530
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	531	char *ec_slave_sii_string(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	532	ec_slave_t slave, /< EtherCAT slave /
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	533	unsigned int index /*< string index /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	534	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	535	{
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	536	if (!index--)
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	537	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	538
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	539	if (index >= slave->sii.string_count) {
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	540	if (slave->master->debug_level)
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	541	EC_WARN("String %u not found in slave %u.\n",
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	542	index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	543	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	544	}
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	545
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	546	return slave->sii.strings[index];
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	547	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	548
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	549	/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	550
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	551	/** 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	552	*
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	553	* \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	554	*/
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	555	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	556	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	557	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	558	)
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	559	{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	560	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	561	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	562	} else {
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	563	return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	564	}
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	565	}
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	566
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	567	/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	568
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	569	/**
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	570	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	571	*/
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	572
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	573	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	574	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	575	unsigned int entry_count /*< total number of
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	576	entries */
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	577	)
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	578	{
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	579	unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	580	ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	581	ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	582
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	583	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	584	sdos++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	585	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	586	entries++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	587	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	588	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	589
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	590	*sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	591	*entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	592	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	593
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	594	/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	595
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	596	/**
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	597	* 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	598	* \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	599	*/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	600
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	601	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	602	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	603	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	604	)
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	605	{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	606	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	607
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	608	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	609	if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	610	continue;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	611	return sdo;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	612	}
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	613
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	614	return NULL;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	615	}
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	616
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	617	/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	618
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	619	/**
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	620	* Get an SDO from the dictionary.
967 93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	621	*
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	622	* const version.
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	623	*
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	624	* \returns The desired SDO, or NULL.
967 93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	625	*/
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	626
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	627	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	628	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	629	uint16_t index /*< SDO index /
967 93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	630	)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	631	{
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	632	const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	633
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	634	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	635	if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	636	continue;
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	637	return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	638	}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	639
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	640	return NULL;
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
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	643	/*****************************************************************************/
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	644
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	645	/** 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	646	* \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	647	*/
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
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	649	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	650	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	651	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	652	)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	653	{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	654	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	655
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	656	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	657	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	658	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	659	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	660	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	661
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	662	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	663	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	664
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	665	/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	666
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	667	/** 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	668	* \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	669	*/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	670
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	671	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	672	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	673	)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	674	{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	675	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	676	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	677
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	678	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	679	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	680	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	681
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	682	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	683	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	684
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	685	/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	686
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	687	/** 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	688	* \returns The desired PDO object, or NULL.
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	689	*/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	690	const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	691	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	692	uint16_t index /*< PDO index to find. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	693	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	694	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	695	unsigned int i;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	696	const ec_sync_t *sync;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	697	const ec_pdo_t *pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	698
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	699	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	700	sync = &slave->sii.syncs[i];
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	701
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	702	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	703	continue;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	704
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	705	return pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	706	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	707
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	708	return NULL;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	709	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	710
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	711	/*****************************************************************************/
1186 ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 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	/** 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	714	*/
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	715	void ec_slave_find_names_for_pdo(
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	716	ec_slave_t *slave,
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	717	ec_pdo_t *pdo
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	718	)
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	719	{
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	720	const ec_sdo_t *sdo;
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	721	ec_pdo_entry_t *pdo_entry;
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	722	const ec_sdo_entry_t *sdo_entry;
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	723
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	724	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	725	if (sdo->index == pdo->index) {
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	726	ec_pdo_set_name(pdo, sdo->name);
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	727	} else {
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	728	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	729	if (sdo->index == pdo_entry->index) {
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	730	sdo_entry = ec_sdo_get_entry_const(
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	731	sdo, pdo_entry->subindex);
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	732	if (sdo_entry) {
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	733	ec_pdo_entry_set_name(pdo_entry,
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	734	sdo_entry->description);
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	735	}
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	736	}
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	737	}
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	738	}
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	739	}
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	740	}
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	741
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	742	/*****************************************************************************/
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	743
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	744	/** Attach PDO names.
1186 ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	745	*/
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	746	void ec_slave_attach_pdo_names(
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	747	ec_slave_t *slave
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	748	)
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	749	{
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	750	unsigned int i;
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	751	ec_sync_t *sync;
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	752	ec_pdo_t *pdo;
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	753
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	754	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	755	sync = slave->sii.syncs + i;
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	756	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	757	ec_slave_find_names_for_pdo(slave, pdo);
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	758	}
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	759	}
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
ff481f097c97 Attach Pdo names from dictionary. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	762	/*****************************************************************************/
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	763
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	764	/** 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	765	*/
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	766	uint32_t ec_slave_calc_rtt_sum(
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	767	ec_slave_t slave /< EtherCAT slave. /
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	768	)
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	769	{
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	770	uint32_t rtt_sum = 0, rtt;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	771	unsigned int i;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	772
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	773	for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	774	if (slave->ports[i].next_slave) {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	775	rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	776	rtt_sum += rtt;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	777	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	778	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	779
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	780	return rtt_sum;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	781	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	782
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	783	/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	784
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	785	/** Finds the next slave supporting DC delay measurement.
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	786	*/
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	787	ec_slave_t *ec_slave_find_next_dc_slave(
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	788	ec_slave_t slave /< EtherCAT slave. /
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	789	)
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	790	{
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	791	ec_slave_t *dc_slave = NULL;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	792
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	793	if (slave->base_dc_supported) {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	794	dc_slave = slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	795	} else {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	796	unsigned int i;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	797
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	798	for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	799	ec_slave_t *next = slave->ports[i].next_slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	800	if (next) {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	801	dc_slave = ec_slave_find_next_dc_slave(next);
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	802	if (dc_slave)
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	803	break;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	804	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	805	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	806	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	807
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	808	return dc_slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	809	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	810
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	811	/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	812
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	813	/** Calculates the port transmission delays.
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	814	*/
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	815	void ec_slave_calc_port_delays(
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	816	ec_slave_t slave /< EtherCAT slave. /
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	817	)
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	818	{
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	819	unsigned int i;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	820	ec_slave_t next, next_dc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	821	uint32_t rtt, next_rtt_sum;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	822
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	823	if (!slave->base_dc_supported)
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	824	return;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	825
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	826	for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	827	next = slave->ports[i].next_slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	828	if (!next)
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	829	continue;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	830	next_dc = ec_slave_find_next_dc_slave(next);
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	831	if (!next_dc)
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	832	continue;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	833
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	834	rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	835	next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	836
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	837	slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	838	next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	839
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	840	#if 0
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	841	EC_DBG("delay %u:%u rtt=%u next_rtt_sum=%u delay=%u\n",
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	842	slave->ring_position, i, rtt, next_rtt_sum,
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	843	slave->ports[i].delay_to_next_dc);
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	844	#endif
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	845	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	846	}
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	847
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	848	/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	849
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	850	/** Recursively calculates transmission delays.
af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	851	*/
af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	852	void ec_slave_calc_transmission_delays_rec(
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	853	ec_slave_t slave, /< Current slave. /
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	854	uint32_t delay /< Sum of delays. /
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	855	)
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	856	{
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	857	unsigned int i;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	858	ec_slave_t next, next_dc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	859
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	860	#if 0
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	861	EC_DBG("%u: %u\n", slave->ring_position, *delay);
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	862	#endif
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	863
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	864	slave->transmission_delay = *delay;
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	865
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	866	for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	867	ec_slave_port_t *port = &slave->ports[i];
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	868	next = port->next_slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	869	if (!next)
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	870	continue;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	871	next_dc = ec_slave_find_next_dc_slave(next);
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	872	if (!next_dc)
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	873	continue;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	874
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	875	delay = delay + port->delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	876	#if 0
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	877	EC_DBG("%u:%u %u\n", slave->ring_position, i, *delay);
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	878	#endif
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	879	ec_slave_calc_transmission_delays_rec(next_dc, delay);
1425 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	delay = delay + slave->ports[0].delay_to_next_dc;
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
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	885	/*****************************************************************************/

author	Martin Troxler <martin.troxler@komaxgroup.com>
	Thu, 26 Nov 2009 15:33:48 +0100
changeset 1583	017fa8fd9ac1
parent 1507	68e89abadd19
child 1586	eb9185dfa8ac
child 1596	ea8d2b4ee742
permissions	-rw-r--r--