master/slave.c
author Florian Pose <fp@igh-essen.com>
Thu, 20 Nov 2008 12:36:19 +0000
changeset 1317 09173a2de40c
parent 1313 ed15eef57d5c
child 1326 ef907b0b5125
permissions -rw-r--r--
Allow disabling interrupts on e100, because they are enabled after hardware reset.
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
     1
/******************************************************************************
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
     3
 *  $Id$
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     5
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     6
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     8
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    10
 *  and/or modify it under the terms of the GNU General Public License
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    11
 *  as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    12
 *  License, or (at your option) any later version.
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    13
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    14
 *  The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    15
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    16
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    17
 *  GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    18
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    19
 *  You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    20
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    21
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    22
 *
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    23
 *  The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    24
 *  charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    25
 *  Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    26
 *  code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    27
 *  software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    28
 *  EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    29
 *  standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    30
 *  Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    31
 *
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
    32
 *****************************************************************************/
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    34
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    35
   \file
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    36
   EtherCAT slave methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    37
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    38
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    39
/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    40
24
d417dd9bdc2f Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents: 23
diff changeset
    41
#include <linux/module.h>
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
    42
#include <linux/delay.h>
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
    44
#include "globals.h"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
    45
#include "datagram.h"
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
    46
#include "master.h"
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
    47
#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
    48
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
    49
#include "slave.h"
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
    51
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    52
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
    53
extern const ec_code_msg_t al_status_messages[];
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
    54
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
    55
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
    56
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
    57
char *ec_slave_sii_string(ec_slave_t *, unsigned int);
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
    58
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
    59
/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
    60
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    61
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
    62
   Slave constructor.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
    63
   \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
    64
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
    65
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
    66
void ec_slave_init(
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
    67
        ec_slave_t *slave, /**< EtherCAT slave */
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
    68
        ec_master_t *master, /**< EtherCAT master */
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
    69
        uint16_t ring_position, /**< ring position */
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
    70
        uint16_t station_address /**< station address to configure */
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
    71
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
    72
{
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
    73
    unsigned int i;
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
    74
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
    75
    slave->master = master;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
    76
    slave->ring_position = ring_position;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
    77
    slave->station_address = station_address;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
    78
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
    79
    slave->config = NULL;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
    80
    slave->requested_state = EC_SLAVE_STATE_PREOP;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
    81
    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
    82
    slave->error_flag = 0;
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
    83
    slave->force_config = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
    84
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
    85
    slave->base_type = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
    86
    slave->base_revision = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
    87
    slave->base_build = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
    88
    slave->base_fmmu_count = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
    89
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
    90
    for (i = 0; i < EC_MAX_PORTS; i++) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
    91
        slave->ports[i].dl_link = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
    92
        slave->ports[i].dl_loop = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
    93
        slave->ports[i].dl_signal = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
    94
        slave->sii.physical_layer[i] = 0xFF;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
    95
    }
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
    96
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
    97
    slave->sii_words = NULL;
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
    98
    slave->sii_nwords = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
    99
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   100
    slave->sii.alias = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   101
    slave->sii.vendor_id = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   102
    slave->sii.product_code = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   103
    slave->sii.revision_number = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   104
    slave->sii.serial_number = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   105
    slave->sii.rx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   106
    slave->sii.rx_mailbox_size = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   107
    slave->sii.tx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   108
    slave->sii.tx_mailbox_size = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   109
    slave->sii.mailbox_protocols = 0;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   110
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   111
    slave->sii.strings = NULL;
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   112
    slave->sii.string_count = 0;
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   113
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   114
    slave->sii.has_general = 0;
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   115
    slave->sii.group = NULL;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   116
    slave->sii.image = NULL;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   117
    slave->sii.order = NULL;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   118
    slave->sii.name = NULL;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   119
    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836
860a5bacea6a Display notLRW flag.
Florian Pose <fp@igh-essen.com>
parents: 835
diff changeset
   120
    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   121
    slave->sii.current_on_ebus = 0;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   122
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   123
    slave->sii.syncs = NULL;
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   124
    slave->sii.sync_count = 0;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   125
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   126
    INIT_LIST_HEAD(&slave->sii.pdos);
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   127
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
   128
    INIT_LIST_HEAD(&slave->sdo_dictionary);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   129
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   130
    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
   131
    slave->jiffies_preop = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   132
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   133
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   134
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   135
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   136
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   137
   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
   138
   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
   139
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   140
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   141
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   142
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   143
    ec_sdo_t *sdo, *next_sdo;
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   144
    unsigned int i;
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   145
    ec_pdo_t *pdo, *next_pdo;
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   146
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   147
    if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   148
        ec_slave_config_detach(slave->config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   149
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   150
    // free all Sdos
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   151
    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
   152
        list_del(&sdo->list);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   153
        ec_sdo_clear(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   154
        kfree(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   155
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   156
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   157
    // free all strings
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   158
    if (slave->sii.strings) {
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   159
        for (i = 0; i < slave->sii.string_count; i++)
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   160
            kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   161
        kfree(slave->sii.strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   162
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   163
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   164
    // free all sync managers
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   165
    ec_slave_clear_sync_managers(slave);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   166
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   167
    // free all SII Pdos
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   168
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   169
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   170
        ec_pdo_clear(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   171
        kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   172
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   173
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
   174
    if (slave->sii_words)
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
   175
        kfree(slave->sii_words);
482
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   176
}
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   177
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   178
/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   179
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   180
/** Clear the sync manager array. 
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   181
 */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   182
void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   183
{
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   184
    unsigned int i;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   185
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   186
    if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   187
        for (i = 0; i < slave->sii.sync_count; i++) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   188
            ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   189
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   190
        kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   191
        slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   192
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   193
}
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   194
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   195
/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   196
482
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   197
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   198
 * Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   199
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   200
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   201
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   202
        ec_slave_state_t new_state /**< new application state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   203
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   204
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   205
    if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   206
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   207
            char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   208
                cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   209
            ec_state_string(slave->current_state, old_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   210
            ec_state_string(new_state, cur_state);
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   211
            EC_DBG("Slave %u: %s -> %s.\n",
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   212
                   slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   213
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   214
        slave->current_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   215
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   216
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   217
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   218
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   219
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   220
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   221
 * Request a slave state and resets the error flag.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   222
 */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   223
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   224
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   225
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   226
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   227
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   228
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   229
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   230
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   231
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   232
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   233
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   234
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   235
   Fetches data from a STRING category.
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   236
   \todo range checking
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   237
   \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
   238
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   239
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   240
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   241
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   242
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   243
        size_t data_size /**< number of bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   244
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   245
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   246
    int i, err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   247
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   248
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   249
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   250
    slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   251
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   252
    if (slave->sii.string_count) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   253
        if (!(slave->sii.strings =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   254
                    kmalloc(sizeof(char *) * slave->sii.string_count,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   255
                        GFP_KERNEL))) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   256
            EC_ERR("Failed to allocate string array memory.\n");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   257
            err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   258
            goto out_zero;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   259
        }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   260
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   261
        offset = 1;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   262
        for (i = 0; i < slave->sii.string_count; i++) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   263
            size = data[offset];
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   264
            // allocate memory for string structure and data at a single blow
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   265
            if (!(slave->sii.strings[i] =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   266
                        kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   267
                EC_ERR("Failed to allocate string memory.\n");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   268
                err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   269
                goto out_free;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   270
            }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   271
            memcpy(slave->sii.strings[i], data + offset + 1, size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   272
            slave->sii.strings[i][size] = 0x00; // append binary zero
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   273
            offset += 1 + size;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   274
        }
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   275
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   276
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   277
    return 0;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   278
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   279
out_free:
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   280
    for (i--; i >= 0; i--)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   281
        kfree(slave->sii.strings[i]);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   282
    kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   283
    slave->sii.strings = NULL;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   284
out_zero:
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   285
    slave->sii.string_count = 0;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   286
    return err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   287
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   288
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   289
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   290
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   291
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   292
   Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   293
   \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
   294
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   295
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   296
int ec_slave_fetch_sii_general(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   297
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   298
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   299
        size_t data_size /**< size in bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   300
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   301
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   302
    unsigned int i;
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   303
    uint8_t flags;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   304
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   305
    if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   306
        EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   307
                data_size, slave->ring_position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   308
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   309
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   310
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   311
    slave->sii.group = ec_slave_sii_string(slave, data[0]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   312
    slave->sii.image = ec_slave_sii_string(slave, data[1]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   313
    slave->sii.order = ec_slave_sii_string(slave, data[2]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   314
    slave->sii.name = ec_slave_sii_string(slave, data[3]);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   315
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   316
    for (i = 0; i < 4; i++)
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   317
        slave->sii.physical_layer[i] =
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   318
            (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
   319
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   320
    // read CoE details
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   321
    flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   322
    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   323
    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   324
    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   325
    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   326
    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   327
    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   328
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   329
    // read general flags
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   330
    flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   331
    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   332
    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   333
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   334
    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   335
    slave->sii.has_general = 1;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   336
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   337
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   338
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   339
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   340
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   341
/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   342
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   343
 * Appends the sync managers described in the category to the existing ones.
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   344
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   345
 * \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   346
 */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   347
int ec_slave_fetch_sii_syncs(
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   348
        ec_slave_t *slave, /**< EtherCAT slave. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   349
        const uint8_t *data, /**< Category data. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   350
        size_t data_size /**< Number of bytes. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   351
        )
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   352
{
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   353
    unsigned int i, count, total_count;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   354
    ec_sync_t *sync;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   355
    size_t memsize;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   356
    ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   357
    uint8_t index;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   358
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   359
    // one sync manager struct is 4 words long
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   360
    if (data_size % 8) {
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   361
        EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   362
                data_size, slave->ring_position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   363
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   364
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   365
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   366
    count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   367
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   368
    if (count) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   369
        total_count = count + slave->sii.sync_count;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   370
        if (total_count > EC_MAX_SYNC_MANAGERS) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   371
            EC_ERR("Exceeded maximum number of sync managers!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   372
            return -EOVERFLOW;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   373
        }
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   374
        memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   375
        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   376
            EC_ERR("Failed to allocate %u bytes for sync managers.\n",
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   377
                    memsize);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   378
            return -ENOMEM;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   379
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   380
873
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   381
        for (i = 0; i < slave->sii.sync_count; i++)
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   382
            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   383
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   384
        // initialize new sync managers
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   385
        for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   386
            index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   387
            sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   388
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   389
            ec_sync_init(sync, slave);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   390
            sync->physical_start_address = EC_READ_U16(data);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   391
            sync->default_length = EC_READ_U16(data + 2);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   392
            sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   393
            sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   394
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   395
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   396
        if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   397
            kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   398
        slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   399
        slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   400
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   401
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   402
    return 0;
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
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   408
   Fetches data from a [RT]XPdo category.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   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
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   412
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   413
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   414
        const uint8_t *data, /**< category data */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   415
        size_t data_size, /**< number of bytes */
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   416
        ec_direction_t dir /**< Pdo direction. */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   417
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   418
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   419
    int ret;
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   420
    ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   421
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   422
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   423
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   424
    while (data_size >= 8) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   425
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   426
            EC_ERR("Failed to allocate Pdo memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   427
            return -ENOMEM;
126
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
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   430
        ec_pdo_init(pdo);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   431
        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
   432
        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
   433
        pdo->sync_index = EC_READ_U8(data + 3);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   434
        ret = ec_pdo_set_name(pdo,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   435
                ec_slave_sii_string(slave, EC_READ_U8(data + 5)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   436
        if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   437
            ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   438
            kfree(pdo);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   439
            return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   440
        }
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   441
        list_add_tail(&pdo->list, &slave->sii.pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   442
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   443
        data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   444
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   445
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   446
        for (i = 0; i < entry_count; i++) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   447
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   448
                EC_ERR("Failed to allocate Pdo entry memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   449
                return -ENOMEM;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   450
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   451
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   452
            ec_pdo_entry_init(entry);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   453
            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
   454
            entry->subindex = EC_READ_U8(data + 2);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   455
            ret = ec_pdo_entry_set_name(entry,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   456
                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   457
            if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   458
                ec_pdo_entry_clear(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   459
                kfree(entry);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   460
                return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   461
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   462
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   463
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   464
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   465
            data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   466
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   467
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   468
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   469
        // if sync manager index is positive, the Pdo is mapped by default
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   470
        if (pdo->sync_index >= 0) {
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   471
            ec_sync_t *sync;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   472
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   473
            if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   474
                EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   475
                        pdo->sync_index, pdo->index, slave->ring_position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   476
                return -ENOENT;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   477
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   478
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   479
            ret = ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   480
            if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   481
                return ret;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   482
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   483
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   484
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   485
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   486
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   487
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   488
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   489
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   490
/**
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   491
   Searches the string list for an index.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   492
   \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
   493
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   494
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   495
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   496
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   497
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   498
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   499
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   500
    if (!index--) 
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   501
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   502
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   503
    if (index >= slave->sii.string_count) {
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   504
        if (slave->master->debug_level)
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   505
            EC_WARN("String %u not found in slave %u.\n",
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   506
                    index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   507
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   508
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   509
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   510
    return slave->sii.strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   511
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   512
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   513
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   514
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   515
/** Get the sync manager given an index.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   516
 *
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   517
 * \return pointer to sync manager, or NULL.
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   518
 */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   519
ec_sync_t *ec_slave_get_sync(
912
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   520
        ec_slave_t *slave, /**< EtherCAT slave. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   521
        uint8_t sync_index /**< Sync manager index. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   522
        )
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   523
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   524
    if (sync_index < slave->sii.sync_count) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   525
        return &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   526
    } else {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   527
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   528
    }
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   529
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   530
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   531
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   532
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   533
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   534
   Counts the total number of Sdos and entries in the dictionary.
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   535
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   536
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   537
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   538
                            unsigned int *sdo_count, /**< number of Sdos */
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   539
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   540
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   541
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   542
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   543
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   544
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   545
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   546
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   547
    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
   548
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   549
        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
   550
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   551
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   552
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   553
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   554
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   555
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   556
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   557
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   558
/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   559
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   560
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   561
 * Get an Sdo from the dictionary.
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   562
 * \returns The desired Sdo, or NULL.
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   563
 */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   564
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   565
ec_sdo_t *ec_slave_get_sdo(
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   566
        ec_slave_t *slave, /**< EtherCAT slave */
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   567
        uint16_t index /**< Sdo index */
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   568
        )
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   569
{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   570
    ec_sdo_t *sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   571
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   572
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   573
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   574
            continue;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   575
        return sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   576
    }
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   577
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   578
    return NULL;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   579
}
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   580
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   581
/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   582
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   583
/**
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   584
 * Get an Sdo from the dictionary.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   585
 *
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   586
 * const version.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   587
 *
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   588
 * \returns The desired Sdo, or NULL.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   589
 */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   590
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   591
const ec_sdo_t *ec_slave_get_sdo_const(
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   592
        const ec_slave_t *slave, /**< EtherCAT slave */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   593
        uint16_t index /**< Sdo index */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   594
        )
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   595
{
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   596
    const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   597
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   598
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   599
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   600
            continue;
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   601
        return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   602
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   603
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   604
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   605
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   606
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   607
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   608
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   609
/** Get an Sdo from the dictionary, given its position in the list.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   610
 * \returns The desired Sdo, or NULL.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   611
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   612
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   613
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   614
        const ec_slave_t *slave, /**< EtherCAT slave. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   615
        uint16_t sdo_position /**< Sdo list position. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   616
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   617
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   618
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   619
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   620
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   621
        if (sdo_position--)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   622
            continue;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   623
        return sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   624
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   625
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   626
    return NULL;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   627
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   628
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   629
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   630
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   631
/** Get the number of Sdos in the dictionary.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   632
 * \returns Sdo count.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   633
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   634
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   635
uint16_t ec_slave_sdo_count(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   636
        const ec_slave_t *slave /**< EtherCAT slave. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   637
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   638
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   639
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   640
    uint16_t count = 0;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   641
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   642
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   643
        count++;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   644
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   645
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   646
    return count;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   647
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   648
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   649
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   650
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   651
/** Finds a mapped Pdo.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   652
 * \returns The desired Pdo object, or NULL.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   653
 */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   654
const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   655
        const ec_slave_t *slave, /**< Slave. */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   656
        uint16_t index /**< Pdo index to find. */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   657
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   658
{
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   659
    unsigned int i;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   660
    const ec_sync_t *sync;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   661
    const ec_pdo_t *pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   662
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   663
    for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   664
        sync = &slave->sii.syncs[i];
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   665
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 876
diff changeset
   666
        if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   667
            continue;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   668
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   669
        return pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   670
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   671
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   672
    return NULL;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   673
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   674
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   675
/*****************************************************************************/
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   676
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   677
/** Find name for a Pdo and its entries.
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   678
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   679
void ec_slave_find_names_for_pdo(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   680
        ec_slave_t *slave,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   681
        ec_pdo_t *pdo
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   682
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   683
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   684
    const ec_sdo_t *sdo;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   685
    ec_pdo_entry_t *pdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   686
    const ec_sdo_entry_t *sdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   687
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   688
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   689
        if (sdo->index == pdo->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   690
            ec_pdo_set_name(pdo, sdo->name);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   691
        } else {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   692
            list_for_each_entry(pdo_entry, &pdo->entries, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   693
                if (sdo->index == pdo_entry->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   694
                    sdo_entry = ec_sdo_get_entry_const(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   695
                            sdo, pdo_entry->subindex);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   696
                    if (sdo_entry) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   697
                        ec_pdo_entry_set_name(pdo_entry,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   698
                                sdo_entry->description);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   699
                    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   700
                }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   701
            }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   702
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   703
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   704
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   705
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   706
/*****************************************************************************/
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   707
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   708
/** Attach Pdo names.
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   709
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   710
void ec_slave_attach_pdo_names(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   711
        ec_slave_t *slave
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   712
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   713
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   714
    unsigned int i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   715
    ec_sync_t *sync;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   716
    ec_pdo_t *pdo;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   717
    
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   718
    for (i = 0; i < slave->sii.sync_count; i++) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   719
        sync = slave->sii.syncs + i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   720
        list_for_each_entry(pdo, &sync->pdos.list, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   721
            ec_slave_find_names_for_pdo(slave, pdo);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   722
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   723
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   724
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   725
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   726
/*****************************************************************************/