master/slave.c
author Florian Pose <fp@igh-essen.com>
Sun, 04 Mar 2007 16:15:23 +0000
changeset 608 029d70ceaaf1
parent 607 7b1daa325c5f
child 609 611d738a1392
permissions -rw-r--r--
Updated TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "slave.h"
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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void ec_slave_clear(struct kobject *);
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void ec_slave_sdos_clear(struct kobject *);
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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
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                                 const char *, size_t);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_WRITE_ATTR(state);
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EC_SYSFS_READ_WRITE_ATTR(eeprom);
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EC_SYSFS_READ_WRITE_ATTR(alias);
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static struct attribute *def_attrs[] = {
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    &attr_info,
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    &attr_state,
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    &attr_eeprom,
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    &attr_alias,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = ec_show_slave_attribute,
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    .store = ec_store_slave_attribute
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};
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static struct kobj_type ktype_ec_slave = {
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    .release = ec_slave_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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static struct kobj_type ktype_ec_slave_sdos = {
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    .release = ec_slave_sdos_clear
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Slave constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
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                  ec_master_t *master, /**< EtherCAT master */
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                  uint16_t ring_position, /**< ring position */
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                  uint16_t station_address /**< station address to configure */
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                  )
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{
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    unsigned int i;
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    slave->ring_position = ring_position;
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    slave->station_address = station_address;
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    slave->master = master;
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    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->self_configured = 0;
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    slave->error_flag = 0;
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    slave->online = 1;
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    slave->fmmu_count = 0;
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    slave->coupler_index = 0;
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    slave->coupler_subindex = 0xFFFF;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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    slave->base_fmmu_count = 0;
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    slave->base_sync_count = 0;
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7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   131
    slave->eeprom_data = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   132
    slave->eeprom_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   133
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   134
    slave->sii_alias = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   135
    slave->sii_vendor_id = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   136
    slave->sii_product_code = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   137
    slave->sii_revision_number = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   138
    slave->sii_serial_number = 0;
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   139
    slave->sii_rx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   140
    slave->sii_rx_mailbox_size = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   141
    slave->sii_tx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   142
    slave->sii_tx_mailbox_size = 0;
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   143
    slave->sii_mailbox_protocols = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   144
    slave->sii_group = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   145
    slave->sii_image = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   146
    slave->sii_order = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   147
    slave->sii_name = NULL;
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   148
    slave->sii_current_on_ebus = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   149
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   150
    INIT_LIST_HEAD(&slave->sii_strings);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   151
    INIT_LIST_HEAD(&slave->sii_syncs);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   152
    INIT_LIST_HEAD(&slave->sii_pdos);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
   153
    INIT_LIST_HEAD(&slave->sdo_dictionary);
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   154
    INIT_LIST_HEAD(&slave->sdo_confs);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   155
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   156
    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
   157
    slave->jiffies_preop = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   158
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   159
    for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   160
        slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   161
        slave->dl_loop[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   162
        slave->dl_signal[i] = 0;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   163
        slave->sii_physical_layer[i] = 0xFF;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   164
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   165
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   166
    // init kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   167
    memset(&slave->kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   168
    kobject_init(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   169
    slave->kobj.ktype = &ktype_ec_slave;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   170
    slave->kobj.parent = &master->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   171
    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   172
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   173
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   174
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   175
    if (kobject_add(&slave->kobj)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   176
        EC_ERR("Failed to add slave's kobject.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   177
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   178
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   179
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   180
    // init SDO kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   181
    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   182
    kobject_init(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   183
    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   184
    slave->sdo_kobj.parent = &slave->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   185
    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   186
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   187
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   188
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   189
    if (kobject_add(&slave->sdo_kobj)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   190
        EC_ERR("Failed to add SDOs kobject.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   191
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   192
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   193
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   194
    return 0;
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   195
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   196
 out_sdo_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   197
    kobject_put(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   198
    kobject_del(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   199
 out_slave_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   200
    kobject_put(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   201
    return -1;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   202
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   203
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   204
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   205
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   206
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   207
   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
   208
   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
   209
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   210
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   211
void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   212
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   213
    ec_sdo_t *sdo, *next_sdo;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   214
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   215
    // free all SDOs
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   216
    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
   217
        list_del(&sdo->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
   218
        ec_sdo_destroy(sdo);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   219
    }
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   220
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   221
    // free SDO kobject
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   222
    kobject_del(&slave->sdo_kobj);
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
   223
    kobject_put(&slave->sdo_kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   224
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   225
    // destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   226
    kobject_del(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   227
    kobject_put(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   228
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   229
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   230
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   231
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   232
/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   233
   Clear and free slave.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   234
   This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   235
   once there are no more references to it.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   236
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   237
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   238
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   239
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   240
    ec_slave_t *slave;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   241
    ec_sii_string_t *string, *next_str;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   242
    ec_sii_sync_t *sync, *next_sync;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   243
    ec_sii_pdo_t *pdo, *next_pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   244
    ec_sii_pdo_entry_t *entry, *next_ent;
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   245
    ec_sdo_data_t *sdodata, *next_sdodata;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   246
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   247
    slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   248
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   249
    // free all string objects
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   250
    list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   251
        list_del(&string->list);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   252
        kfree(string);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   253
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   254
195
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    // free all sync managers
325
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   256
    list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {
126
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        list_del(&sync->list);
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   258
        kfree(sync);
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   259
    }
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   260
195
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    // free all PDOs
325
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   262
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
126
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   263
        list_del(&pdo->list);
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   264
        if (pdo->name) kfree(pdo->name);
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   265
195
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        // free all PDO entries
126
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   267
        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
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   268
            list_del(&entry->list);
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   269
            if (entry->name) kfree(entry->name);
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   270
            kfree(entry);
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   271
        }
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   272
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        kfree(pdo);
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   274
    }
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325
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    if (slave->sii_group) kfree(slave->sii_group);
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   277
    if (slave->sii_image) kfree(slave->sii_image);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   278
    if (slave->sii_order) kfree(slave->sii_order);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   279
    if (slave->sii_name) kfree(slave->sii_name);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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   280
329
d004349777fc SDO configuration interface, SDO download state machine.
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    // free all SDO configurations
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   282
    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
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   283
        list_del(&sdodata->list);
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   284
        kfree(sdodata->data);
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   285
        kfree(sdodata);
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   286
    }
d004349777fc SDO configuration interface, SDO download state machine.
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   287
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
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diff changeset
   288
    if (slave->eeprom_data) kfree(slave->eeprom_data);
418
7a43437bc48b Fixed memory leak in master and slave destructors.
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   289
7a43437bc48b Fixed memory leak in master and slave destructors.
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   290
    kfree(slave);
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   291
}
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   292
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   293
/*****************************************************************************/
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   294
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   295
/**
482
fbaaaf2a6234 Added clear function for SDO kobject.
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   296
*/
fbaaaf2a6234 Added clear function for SDO kobject.
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   297
fbaaaf2a6234 Added clear function for SDO kobject.
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   298
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
fbaaaf2a6234 Added clear function for SDO kobject.
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   299
{
fbaaaf2a6234 Added clear function for SDO kobject.
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}
fbaaaf2a6234 Added clear function for SDO kobject.
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fbaaaf2a6234 Added clear function for SDO kobject.
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/*****************************************************************************/
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fbaaaf2a6234 Added clear function for SDO kobject.
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   304
/**
446
8fede404c01f Persistent slave lists.
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   Reset slave from operation mode.
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*/
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   307
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void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
8fede404c01f Persistent slave lists.
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   309
{
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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    ec_sdo_data_t *sdodata, *next_sdodata;
467
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   311
    ec_sii_sync_t *sync;
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   312
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   313
    // remove FMMU configurations
446
8fede404c01f Persistent slave lists.
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   314
    slave->fmmu_count = 0;
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   315
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   316
    // free all SDO configurations
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   317
    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   318
        list_del(&sdodata->list);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   319
        kfree(sdodata->data);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   320
        kfree(sdodata);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   321
    }
467
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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diff changeset
   322
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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diff changeset
   323
    // remove estimated sync manager sizes
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diff changeset
   324
    list_for_each_entry(sync, &slave->sii_syncs, list) {
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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diff changeset
   325
        sync->est_length = 0;
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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diff changeset
   326
    }
446
8fede404c01f Persistent slave lists.
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diff changeset
   327
}
8fede404c01f Persistent slave lists.
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   328
8fede404c01f Persistent slave lists.
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   329
/*****************************************************************************/
8fede404c01f Persistent slave lists.
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diff changeset
   330
8fede404c01f Persistent slave lists.
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diff changeset
   331
/**
8fede404c01f Persistent slave lists.
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diff changeset
   332
 */
8fede404c01f Persistent slave lists.
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diff changeset
   333
8fede404c01f Persistent slave lists.
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diff changeset
   334
void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */
8fede404c01f Persistent slave lists.
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diff changeset
   335
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
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diff changeset
   336
                            )
8fede404c01f Persistent slave lists.
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diff changeset
   337
{
8fede404c01f Persistent slave lists.
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diff changeset
   338
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
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diff changeset
   339
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
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diff changeset
   340
}
8fede404c01f Persistent slave lists.
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diff changeset
   341
8fede404c01f Persistent slave lists.
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diff changeset
   342
/*****************************************************************************/
8fede404c01f Persistent slave lists.
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diff changeset
   343
8fede404c01f Persistent slave lists.
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diff changeset
   344
/**
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   345
   Fetches data from a STRING category.
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   346
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   347
*/
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   348
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   349
int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   350
                           const uint8_t *data /**< category data */
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   351
                           )
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   352
{
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   353
    unsigned int string_count, i;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   354
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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diff changeset
   355
    off_t offset;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   356
    ec_sii_string_t *string;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   357
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diff changeset
   358
    string_count = data[0];
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   359
    offset = 1;
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Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   360
    for (i = 0; i < string_count; i++) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   361
        size = data[offset];
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   362
        // allocate memory for string structure and data at a single blow
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   363
        if (!(string = (ec_sii_string_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   364
              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   365
            EC_ERR("Failed to allocate string memory.\n");
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   366
            return -1;
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parents: 114
diff changeset
   367
        }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   368
        string->size = size;
161
ddb7266d1c56 Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents: 160
diff changeset
   369
        // string memory appended to string structure
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   370
        string->data = (char *) string + sizeof(ec_sii_string_t);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   371
        memcpy(string->data, data + offset + 1, size);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   372
        string->data[size] = 0x00;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   373
        list_add_tail(&string->list, &slave->sii_strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   374
        offset += 1 + size;
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parents: 114
diff changeset
   375
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   376
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parents: 114
diff changeset
   377
    return 0;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   378
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   379
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parents: 114
diff changeset
   380
/*****************************************************************************/
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diff changeset
   381
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diff changeset
   382
/**
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   383
   Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   384
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   385
*/
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   386
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   387
void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   388
                            const uint8_t *data /**< category data */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   389
                            )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
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parents: 122
diff changeset
   390
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   391
    unsigned int i;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   392
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   393
    ec_slave_locate_string(slave, data[0], &slave->sii_group);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   394
    ec_slave_locate_string(slave, data[1], &slave->sii_image);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   395
    ec_slave_locate_string(slave, data[2], &slave->sii_order);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   396
    ec_slave_locate_string(slave, data[3], &slave->sii_name);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   397
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   398
    for (i = 0; i < 4; i++)
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   399
        slave->sii_physical_layer[i] =
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   400
            (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
   401
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   402
    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   403
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   404
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   405
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   406
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   407
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   408
   Fetches data from a SYNC MANAGER category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   409
   \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
   410
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   411
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   412
int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   413
                        const uint8_t *data, /**< category data */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   414
                        size_t word_count /**< number of words */
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   415
                        )
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   416
{
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   417
    unsigned int sync_count, i;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   418
    ec_sii_sync_t *sync;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   419
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   420
    sync_count = word_count / 4; // sync manager struct is 4 words long
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   421
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   422
    for (i = 0; i < sync_count; i++, data += 8) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   423
        if (!(sync = (ec_sii_sync_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   424
              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   425
            EC_ERR("Failed to allocate Sync-Manager memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   426
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   427
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   428
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   429
        sync->index = i;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   430
        sync->physical_start_address = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   431
        sync->length                 = EC_READ_U16(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   432
        sync->control_register       = EC_READ_U8 (data + 4);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   433
        sync->enable                 = EC_READ_U8 (data + 6);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   434
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   435
        sync->est_length = 0;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   436
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   437
        list_add_tail(&sync->list, &slave->sii_syncs);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   438
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   439
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   440
    return 0;
118
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
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   444
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   445
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   446
   Fetches data from a [RT]XPDO category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   447
   \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
   448
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   449
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   450
int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   451
                       const uint8_t *data, /**< category data */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   452
                       size_t word_count, /**< number of words */
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   453
                       ec_sii_pdo_type_t pdo_type /**< PDO type */
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   454
                       )
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   455
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   456
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   457
    ec_sii_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
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   460
    while (word_count >= 4) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   461
        if (!(pdo = (ec_sii_pdo_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   462
              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   463
            EC_ERR("Failed to allocate PDO memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   464
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   465
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   466
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   467
        INIT_LIST_HEAD(&pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   468
        pdo->type = pdo_type;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   469
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   470
        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
   471
        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
   472
        pdo->sync_index = EC_READ_U8(data + 3);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   473
        pdo->name = NULL;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   474
        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   475
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   476
        list_add_tail(&pdo->list, &slave->sii_pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   477
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   478
        word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   479
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   480
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   481
        for (i = 0; i < entry_count; i++) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   482
            if (!(entry = (ec_sii_pdo_entry_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   483
                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   484
                EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   485
                return -1;
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
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   488
            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
   489
            entry->subindex = EC_READ_U8(data + 2);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   490
            entry->name = NULL;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   491
            ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   492
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   493
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   494
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   495
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   496
            word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   497
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   498
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   499
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   500
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   501
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   502
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   503
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   504
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   505
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   506
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   507
   Searches the string list for an index and allocates a new string.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   508
   \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
   509
   \todo documentation
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   510
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   511
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   512
int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   513
                           unsigned int index, /**< string index */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   514
                           char **ptr /**< Address of the string pointer */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   515
                           )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   516
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   517
    ec_sii_string_t *string;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   518
    char *err_string;
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
    // Erst alten Speicher freigeben
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   521
    if (*ptr) {
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   522
        kfree(*ptr);
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   523
        *ptr = NULL;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   524
    }
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   525
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   526
    // Index 0 bedeutet "nicht belegt"
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   527
    if (!index) return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   528
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   529
    // EEPROM-String mit Index finden und kopieren
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   530
    list_for_each_entry(string, &slave->sii_strings, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   531
        if (--index) continue;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   532
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   533
        if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   534
            EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   535
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   536
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   537
        memcpy(*ptr, string->data, string->size + 1);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   538
        return 0;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   539
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   540
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 458
diff changeset
   541
    if (slave->master->debug_level)
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 458
diff changeset
   542
        EC_WARN("String %i not found in slave %i.\n",
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 458
diff changeset
   543
                index, slave->ring_position);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   544
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   545
    err_string = "(string not found)";
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   546
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   547
    if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   548
        EC_WARN("Unable to allocate string memory.\n");
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   549
        return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   550
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   551
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   552
    memcpy(*ptr, err_string, strlen(err_string) + 1);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   553
    return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   554
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   555
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   556
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   557
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   558
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   559
   Prepares an FMMU configuration.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   560
   Configuration data for the FMMU is saved in the slave structure and is
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   561
   written to the slave in ecrt_master_activate().
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   562
   The FMMU configuration is done in a way, that the complete data range
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   563
   of the corresponding sync manager is covered. Seperate FMMUs are configured
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   564
   for each domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   565
   If the FMMU configuration is already prepared, the function returns with
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   566
   success.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   567
   \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
   568
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   569
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   570
int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   571
                          const ec_domain_t *domain, /**< domain */
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   572
                          const ec_sii_sync_t *sync  /**< sync manager */
160
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu().
Florian Pose <fp@igh-essen.com>
parents: 157
diff changeset
   573
                          )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   574
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   575
    unsigned int i;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   576
    ec_fmmu_t *fmmu;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   577
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   578
    // FMMU configuration already prepared?
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   579
    for (i = 0; i < slave->fmmu_count; i++) {
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   580
        fmmu = &slave->fmmus[i];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   581
        if (fmmu->domain == domain && fmmu->sync == sync)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   582
            return 0;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   583
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   584
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   585
    // reserve new FMMU...
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   586
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   587
    if (slave->fmmu_count >= slave->base_fmmu_count) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   588
        EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   589
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   590
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   591
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   592
    fmmu = &slave->fmmus[slave->fmmu_count];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   593
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   594
    fmmu->index = slave->fmmu_count;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   595
    fmmu->domain = domain;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   596
    fmmu->sync = sync;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   597
    fmmu->logical_start_address = 0;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   598
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   599
    slave->fmmu_count++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   600
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   601
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   602
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   603
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   604
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   605
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   606
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   607
   Outputs all information about a certain slave.
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   608
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   609
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   610
size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   611
                     char *buffer /**< Output buffer */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   612
                     )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   613
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   614
    off_t off = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   615
    ec_sii_sync_t *sync;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   616
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   617
    ec_sii_pdo_entry_t *pdo_entry;
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   618
    int first, i;
464
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   619
    ec_sdo_data_t *sdodata;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   620
    char str[20];
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   621
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   622
    off += sprintf(buffer + off, "\nName: ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   623
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   624
    if (slave->sii_name)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   625
        off += sprintf(buffer + off, "%s", slave->sii_name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   626
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   627
    off += sprintf(buffer + off, "\nVendor ID: 0x%08X\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   628
                   slave->sii_vendor_id);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   629
    off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   630
                   slave->sii_product_code);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   631
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   632
    off += sprintf(buffer + off, "State: ");
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   633
    off += ec_state_string(slave->current_state, buffer + off);
519
54787e1b57d4 Display requested state in slave info.
Florian Pose <fp@igh-essen.com>
parents: 499
diff changeset
   634
    off += sprintf(buffer + off, " (");
54787e1b57d4 Display requested state in slave info.
Florian Pose <fp@igh-essen.com>
parents: 499
diff changeset
   635
    off += ec_state_string(slave->requested_state, buffer + off);
54787e1b57d4 Display requested state in slave info.
Florian Pose <fp@igh-essen.com>
parents: 499
diff changeset
   636
    off += sprintf(buffer + off, ")\nFlags: %s, %s\n",
458
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   637
                   slave->online ? "online" : "OFFLINE",
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   638
                   slave->error_flag ? "ERROR" : "ok");
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   639
    off += sprintf(buffer + off, "Ring position: %i\n",
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   640
                   slave->ring_position);
357
277de5572f99 Coupler information in slave info file, lines in lsec.
Florian Pose <fp@igh-essen.com>
parents: 349
diff changeset
   641
    off += sprintf(buffer + off, "Advanced position: %i:%i\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   642
                   slave->coupler_index, slave->coupler_subindex);
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   643
    off += sprintf(buffer + off, "Coupler: %s\n",
357
277de5572f99 Coupler information in slave info file, lines in lsec.
Florian Pose <fp@igh-essen.com>
parents: 349
diff changeset
   644
                   ec_slave_is_coupler(slave) ? "yes" : "no");
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   645
    off += sprintf(buffer + off, "Current consumption: %i mA\n\n",
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   646
                   slave->sii_current_on_ebus);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   647
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   648
    off += sprintf(buffer + off, "Data link status:\n");
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   649
    for (i = 0; i < 4; i++) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   650
        off += sprintf(buffer + off, "  Port %i (", i);
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   651
        switch (slave->sii_physical_layer[i]) {
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   652
            case 0x00:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   653
                off += sprintf(buffer + off, "EBUS");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   654
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   655
            case 0x01:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   656
                off += sprintf(buffer + off, "100BASE-TX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   657
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   658
            case 0x02:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   659
                off += sprintf(buffer + off, "100BASE-FX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   660
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   661
            default:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   662
                off += sprintf(buffer + off, "unknown (%i)",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   663
                               slave->sii_physical_layer[i]);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   664
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   665
        off += sprintf(buffer + off, ") Link %s, Loop %s, %s\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   666
                       slave->dl_link[i] ? "up" : "down",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   667
                       slave->dl_loop[i] ? "closed" : "open",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   668
                       slave->dl_signal[i] ? "Signal detected" : "No signal");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   669
    }
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   670
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   671
    if (slave->sii_mailbox_protocols) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   672
        off += sprintf(buffer + off, "\nMailboxes:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   673
        off += sprintf(buffer + off, "  RX mailbox: 0x%04X/%i,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   674
                       " TX mailbox: 0x%04X/%i\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   675
                       slave->sii_rx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   676
                       slave->sii_rx_mailbox_size,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   677
                       slave->sii_tx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   678
                       slave->sii_tx_mailbox_size);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   679
        off += sprintf(buffer + off, "  Supported protocols: ");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   680
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   681
        first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   682
        if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   683
            off += sprintf(buffer + off, "AoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   684
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   685
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   686
        if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   687
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   688
            off += sprintf(buffer + off, "EoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   689
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   690
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   691
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   692
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   693
            off += sprintf(buffer + off, "CoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   694
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   695
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   696
        if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   697
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   698
            off += sprintf(buffer + off, "FoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   699
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   700
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   701
        if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   702
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   703
            off += sprintf(buffer + off, "SoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   704
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   705
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   706
        if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   707
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   708
            off += sprintf(buffer + off, "VoE");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   709
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   710
        off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   711
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   712
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   713
    if (slave->sii_alias || slave->sii_group
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   714
        || slave->sii_image || slave->sii_order)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   715
        off += sprintf(buffer + off, "\nSII data:\n");
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   716
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   717
    if (slave->sii_alias)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   718
        off += sprintf(buffer + off, "  Configured station alias:"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   719
                       " 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   720
    if (slave->sii_group)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   721
        off += sprintf(buffer + off, "  Group: %s\n", slave->sii_group);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   722
    if (slave->sii_image)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   723
        off += sprintf(buffer + off, "  Image: %s\n", slave->sii_image);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   724
    if (slave->sii_order)
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   725
        off += sprintf(buffer + off, "  Order number: %s\n", slave->sii_order);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   726
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   727
    if (!list_empty(&slave->sii_syncs))
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   728
        off += sprintf(buffer + off, "\nSync-Managers:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   729
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   730
    list_for_each_entry(sync, &slave->sii_syncs, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   731
        off += sprintf(buffer + off, "  %i: 0x%04X, length %i,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   732
                       " control 0x%02X, %s\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   733
                       sync->index, sync->physical_start_address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   734
                       sync->length, sync->control_register,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   735
                       sync->enable ? "enable" : "disable");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   736
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   737
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   738
    if (!list_empty(&slave->sii_pdos))
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   739
        off += sprintf(buffer + off, "\nPDOs:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   740
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   741
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   742
        off += sprintf(buffer + off,
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   743
                       "  %s \"%s\" (0x%04X), Sync-Manager %i\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   744
                       pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   745
                       pdo->name ? pdo->name : "???",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   746
                       pdo->index, pdo->sync_index);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   747
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   748
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   749
            off += sprintf(buffer + off, "    \"%s\" 0x%04X:%X, %i bit\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   750
                           pdo_entry->name ? pdo_entry->name : "???",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   751
                           pdo_entry->index, pdo_entry->subindex,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   752
                           pdo_entry->bit_length);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   753
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   754
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   755
464
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   756
    if (!list_empty(&slave->sdo_confs))
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   757
        off += sprintf(buffer + off, "\nSDO configurations:\n");
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   758
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   759
    list_for_each_entry(sdodata, &slave->sdo_confs, list) {
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   760
        switch (sdodata->size) {
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   761
            case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   762
            case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   763
            case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   764
            default: sprintf(str, "(invalid size)"); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   765
        }
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   766
        off += sprintf(buffer + off, "  0x%04X:%-3i -> %s\n",
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   767
                       sdodata->index, sdodata->subindex, str);
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   768
    }
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   769
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   770
    off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   771
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   772
    return off;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   773
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   774
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   775
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   776
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   777
/**
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   778
 * Schedules an EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   779
 * \return 0 case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   780
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   781
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   782
int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   783
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   784
    ec_master_t *master = request->slave->master;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   785
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   786
    request->state = EC_EEPROM_REQ_QUEUED;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   787
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   788
    // schedule EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   789
    down(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   790
    list_add_tail(&request->list, &master->eeprom_requests);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   791
    up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   792
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   793
    // wait for processing through FSM
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   794
    if (wait_event_interruptible(master->eeprom_queue,
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   795
                request->state != EC_EEPROM_REQ_QUEUED)) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   796
        // interrupted by signal
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   797
        down(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   798
        if (request->state == EC_EEPROM_REQ_QUEUED) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   799
            list_del(&request->list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   800
            up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   801
            return -EINTR;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   802
        }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   803
        // request already processing: interrupt not possible.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   804
        up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   805
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   806
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   807
    // wait until master FSM has finished processing
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   808
    wait_event(master->eeprom_queue, request->state != EC_EEPROM_REQ_BUSY);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   809
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   810
    return request->state == EC_EEPROM_REQ_COMPLETED ? 0 : -EIO;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   811
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   812
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   813
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   814
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   815
/**
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   816
 * Writes complete EEPROM contents to a slave.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   817
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   818
 */
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   819
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   820
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   821
        const uint8_t *data, /**< new EEPROM data */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   822
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   823
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   824
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   825
    ec_eeprom_write_request_t request;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   826
    const uint16_t *cat_header;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   827
    uint16_t cat_type, cat_size;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   828
    int ret;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   829
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   830
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
   831
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   832
        return -EBUSY;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   833
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   834
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   835
    if (size % 2) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   836
        EC_ERR("EEPROM data size is odd! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   837
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   838
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   839
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   840
    // init EEPROM write request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   841
    INIT_LIST_HEAD(&request.list);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   842
    request.slave = slave;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   843
    request.words = (const uint16_t *) data;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   844
    request.offset = 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   845
    request.size = size / 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   846
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   847
    if (request.size < 0x0041) {
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   848
        EC_ERR("EEPROM data too short! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   849
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   850
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   851
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   852
    cat_header = request.words + 0x0040; // first category header
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   853
    cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   854
    while (cat_type != 0xFFFF) { // cycle through categories
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   855
        if (cat_header + 1 > request.words + request.size) {
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   856
            EC_ERR("EEPROM data corrupted! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   857
            return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   858
        }
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   859
        cat_size = EC_READ_U16(cat_header + 1);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   860
        if (cat_header + cat_size + 2 > request.words + request.size) {
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   861
            EC_ERR("EEPROM data corrupted! Dropping.\n");
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   862
            return -EINVAL;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   863
        }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   864
        cat_header += cat_size + 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   865
        cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   866
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   867
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   868
    // EEPROM data ok. schedule writing.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   869
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   870
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   871
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   872
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   873
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   874
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   875
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   876
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   877
/**
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   878
 * Writes the Secondary slave address (alias) to the slave's EEPROM.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   879
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   880
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   881
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   882
ssize_t ec_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   883
        const uint8_t *data, /**< alias string */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   884
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   885
        )
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   886
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   887
    ec_eeprom_write_request_t request;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   888
    char *remainder;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   889
    uint16_t alias, word;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   890
    int ret;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   891
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   892
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   893
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   894
        return -EBUSY;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   895
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   896
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   897
    alias = simple_strtoul(data, &remainder, 0);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   898
    if (remainder == (char *) data || (*remainder && *remainder != '\n')) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   899
        EC_ERR("Invalid alias value! Dropping.\n");
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   900
        return -EINVAL;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   901
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   902
    
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   903
    // correct endianess
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   904
    EC_WRITE_U16(&word, alias);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   905
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   906
    // init EEPROM write request
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   907
    INIT_LIST_HEAD(&request.list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   908
    request.slave = slave;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   909
    request.words = &word;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   910
    request.offset = 0x0004;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   911
    request.size = 1;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   912
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   913
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   914
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   915
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   916
    slave->sii_alias = alias; // FIXME: do this in state machine
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   917
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   918
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   919
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   920
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   921
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   922
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   923
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   924
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   925
   Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   926
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   927
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   928
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   929
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   930
                                struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   931
                                char *buffer /**< memory to store data */
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   932
                                )
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   933
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   934
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   935
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   936
    if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   937
        return ec_slave_info(slave, buffer);
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   938
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   939
    else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   940
        switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   941
            case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   942
                return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   943
            case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   944
                return sprintf(buffer, "PREOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   945
            case EC_SLAVE_STATE_SAVEOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   946
                return sprintf(buffer, "SAVEOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   947
            case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   948
                return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   949
            default:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   950
                return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   951
        }
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   952
    }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   953
    else if (attr == &attr_eeprom) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   954
        if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   955
            if (slave->eeprom_size > PAGE_SIZE) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   956
                EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   957
                       slave->ring_position, slave->eeprom_size,
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   958
                       (int) PAGE_SIZE);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   959
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   960
            else {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   961
                memcpy(buffer, slave->eeprom_data, slave->eeprom_size);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   962
                return slave->eeprom_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   963
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   964
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   965
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   966
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   967
        return sprintf(buffer, "%u\n", slave->sii_alias);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   968
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   969
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   970
    return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   971
}
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   972
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   973
/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   974
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   975
/**
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   976
   Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   977
   \return number of bytes processed, or negative error code
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   978
*/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   979
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   980
ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   981
                                 struct attribute *attr, /**< attribute */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   982
                                 const char *buffer, /**< memory with data */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   983
                                 size_t size /**< size of data to store */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   984
                                 )
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   985
{
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   986
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   987
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   988
    if (attr == &attr_state) {
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 400
diff changeset
   989
        char state[EC_STATE_STRING_SIZE];
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   990
        if (!strcmp(buffer, "INIT\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   991
            ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   992
        else if (!strcmp(buffer, "PREOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   993
            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   994
        else if (!strcmp(buffer, "SAVEOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   995
            ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   996
        else if (!strcmp(buffer, "OP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   997
            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   998
        else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   999
            EC_ERR("Invalid slave state \"%s\"!\n", buffer);
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1000
            return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1001
        }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1002
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1003
        ec_state_string(slave->requested_state, state);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1004
        EC_INFO("Accepted new state %s for slave %i.\n",
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1005
                state, slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1006
        return size;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1007
    }
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1008
    else if (attr == &attr_eeprom) {
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1009
        return ec_slave_write_eeprom(slave, buffer, size);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1010
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1011
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1012
        return ec_slave_write_alias(slave, buffer, size);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1013
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1014
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1015
    return -EIO;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1016
}
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1017
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1018
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1019
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1020
/**
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1021
   Calculates the size of a sync manager by evaluating PDO sizes.
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1022
   \return sync manager size
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1023
*/
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1024
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1025
uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1026
                                 /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1027
                                 const ec_sii_sync_t *sync
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1028
                                 /**< sync manager */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1029
                                 )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1030
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1031
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1032
    ec_sii_pdo_entry_t *pdo_entry;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
  1033
    unsigned int bit_size, byte_size;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1034
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1035
    if (sync->length) return sync->length;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
  1036
    if (sync->est_length) return sync->est_length;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1037
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1038
    bit_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1039
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1040
        if (pdo->sync_index != sync->index) continue;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1041
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1042
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1043
            bit_size += pdo_entry->bit_length;
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1044
        }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1045
    }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1046
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1047
    if (bit_size % 8) // round up to full bytes
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
  1048
        byte_size = bit_size / 8 + 1;
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1049
    else
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
  1050
        byte_size = bit_size / 8;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
  1051
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
  1052
    return byte_size;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1053
}
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1054
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1055
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1056
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1057
/**
556
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1058
   Initializes a sync manager configuration page with EEPROM data.
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1059
   The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1060
*/
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1061
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1062
void ec_slave_sync_config(const ec_slave_t *slave, /**< EtherCAT slave */
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1063
        const ec_sii_sync_t *sync, /**< sync manager */
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1064
        uint8_t *data /**> configuration memory */
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1065
        )
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1066
{
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1067
    size_t sync_size;
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1068
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1069
    sync_size = ec_slave_calc_sync_size(slave, sync);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1070
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1071
    if (slave->master->debug_level) {
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1072
        EC_DBG("Slave %3i, SM %i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1073
               slave->ring_position, sync->index, sync->physical_start_address,
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1074
               sync_size, sync->control_register, sync->enable);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1075
    }
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1076
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1077
    EC_WRITE_U16(data,     sync->physical_start_address);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1078
    EC_WRITE_U16(data + 2, sync_size);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1079
    EC_WRITE_U8 (data + 4, sync->control_register);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1080
    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1081
    EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1082
}
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1083
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1084
/*****************************************************************************/
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1085
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1086
/**
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1087
   Initializes an FMMU configuration page.
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1088
   The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1089
*/
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1090
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1091
void ec_slave_fmmu_config(const ec_slave_t *slave, /**< EtherCAT slave */
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1092
        const ec_fmmu_t *fmmu, /**< FMMU */
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1093
        uint8_t *data /**> configuration memory */
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1094
        )
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1095
{
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1096
    size_t sync_size;
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1097
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1098
    sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1099
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1100
    if (slave->master->debug_level) {
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1101
        EC_DBG("Slave %3i, FMMU %2i:"
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1102
               " LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1103
               slave->ring_position, fmmu->index, fmmu->logical_start_address,
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1104
               sync_size, fmmu->sync->physical_start_address,
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1105
               ((fmmu->sync->control_register & 0x04) ? "out" : "in"));
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1106
    }
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1107
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1108
    EC_WRITE_U32(data,      fmmu->logical_start_address);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1109
    EC_WRITE_U16(data + 4,  sync_size); // size of fmmu
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1110
    EC_WRITE_U8 (data + 6,  0x00); // logical start bit
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1111
    EC_WRITE_U8 (data + 7,  0x07); // logical end bit
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1112
    EC_WRITE_U16(data + 8,  fmmu->sync->physical_start_address);
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1113
    EC_WRITE_U8 (data + 10, 0x00); // physical start bit
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1114
    EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1115
                             ? 0x02 : 0x01));
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1116
    EC_WRITE_U16(data + 12, 0x0001); // enable
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1117
    EC_WRITE_U16(data + 14, 0x0000); // reserved
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1118
}
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1119
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1120
/*****************************************************************************/
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1121
dc5829af044d Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t.
Florian Pose <fp@igh-essen.com>
parents: 526
diff changeset
  1122
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1123
   \return non-zero if slave is a bus coupler
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1124
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1125
343
b3858d25ba4b Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
  1126
int ec_slave_is_coupler(const ec_slave_t *slave /**< EtherCAT slave */)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1127
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1128
    // TODO: Better bus coupler criterion
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1129
    return slave->sii_vendor_id == 0x00000002
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1130
        && slave->sii_product_code == 0x044C2C52;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1131
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1132
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1133
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1134
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1135
/**
394
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1136
   \return non-zero if slave is a bus coupler
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1137
*/
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1138
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1139
int ec_slave_has_subbus(const ec_slave_t *slave /**< EtherCAT slave */)
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1140
{
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1141
    return slave->sii_vendor_id == 0x00000002
400
99c1085fd5e2 Corrected subbus product code.
Florian Pose <fp@igh-essen.com>
parents: 399
diff changeset
  1142
        && slave->sii_product_code == 0x04602c22;
394
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1143
}
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1144
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1145
/*****************************************************************************/
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1146
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
  1147
/**
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1148
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1149
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1150
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1151
int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1152
                      uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1153
                      uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1154
                      const uint8_t *data, /**< SDO data */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1155
                      size_t size /**< SDO size in bytes */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1156
                      )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1157
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1158
    ec_sdo_data_t *sdodata;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1159
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1160
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1161
        EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1162
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1163
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1164
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1165
    if (!(sdodata = (ec_sdo_data_t *)
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1166
          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1167
        EC_ERR("Failed to allocate memory for SDO configuration object!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1168
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1169
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1170
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1171
    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1172
        EC_ERR("Failed to allocate memory for SDO configuration data!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1173
        kfree(sdodata);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1174
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1175
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1176
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1177
    sdodata->index = sdo_index;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1178
    sdodata->subindex = sdo_subindex;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1179
    memcpy(sdodata->data, data, size);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1180
    sdodata->size = size;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1181
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1182
    list_add_tail(&sdodata->list, &slave->sdo_confs);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1183
    return 0;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1184
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1185
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1186
/*****************************************************************************/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1187
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1188
/**
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1189
   \return 0 in case of success, else < 0
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1190
*/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1191
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1192
int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1193
                      uint32_t vendor_id, /**< vendor ID */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1194
                      uint32_t product_code /**< product code */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1195
                      )
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1196
{
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1197
    if (vendor_id != slave->sii_vendor_id ||
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1198
        product_code != slave->sii_product_code) {
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1199
        EC_ERR("Invalid slave type at position %i - Requested: 0x%08X 0x%08X,"
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1200
               " found: 0x%08X 0x%08X\".\n", slave->ring_position, vendor_id,
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1201
               product_code, slave->sii_vendor_id, slave->sii_product_code);
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1202
        return -1;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1203
    }
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1204
    return 0;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1205
}
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1206
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1207
/*****************************************************************************/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1208
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1209
/**
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1210
   Counts the total number of SDOs and entries in the dictionary.
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1211
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1212
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1213
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1214
                            unsigned int *sdo_count, /**< number of SDOs */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1215
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1216
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1217
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1218
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1219
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1220
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1221
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1222
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1223
    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
  1224
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1225
        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
  1226
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1227
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1228
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1229
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1230
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1231
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1232
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1233
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1234
/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1235
 *  Realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1236
 *****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1237
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1238
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1239
   \return 0 in case of success, else < 0
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1240
   \ingroup RealtimeInterface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1241
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1242
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1243
int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1244
                         uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1245
                         uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1246
                         uint8_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1247
                         )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1248
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1249
    uint8_t data[1];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1250
    EC_WRITE_U8(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1251
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1252
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1253
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1254
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1255
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1256
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1257
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1258
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1259
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1260
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1261
int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1262
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1263
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1264
                          uint16_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1265
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1266
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1267
    uint8_t data[2];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1268
    EC_WRITE_U16(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1269
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1270
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1271
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1272
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1273
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1274
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1275
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1276
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1277
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1278
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1279
int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1280
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1281
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1282
                          uint32_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1283
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1284
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1285
    uint8_t data[4];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1286
    EC_WRITE_U32(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1287
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1288
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1289
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1290
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1291
526
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1292
/** \cond */
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
  1293
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1294
EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1295
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1296
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1297
526
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1298
/** \endcond */
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1299
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1300
/*****************************************************************************/