master/slave.c
author Florian Pose <fp@igh-essen.com>
Fri, 22 Feb 2008 16:04:23 +0000
changeset 817 118dea2fa505
parent 814 a51f857b1b2d
child 831 ded9519c8d6e
permissions -rw-r--r--
Support for slaves that don't support the LRW datagram type.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "slave_config.h"
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#include "slave.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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void ec_slave_clear(struct kobject *);
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void ec_slave_sdos_clear(struct kobject *);
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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
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                                 const char *, size_t);
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char *ec_slave_sii_string(ec_slave_t *, unsigned int);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_WRITE_ATTR(state);
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EC_SYSFS_READ_WRITE_ATTR(eeprom);
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EC_SYSFS_READ_WRITE_ATTR(alias);
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static struct attribute *def_attrs[] = {
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    &attr_info,
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    &attr_state,
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    &attr_eeprom,
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    &attr_alias,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = ec_show_slave_attribute,
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    .store = ec_store_slave_attribute
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};
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static struct kobj_type ktype_ec_slave = {
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    .release = ec_slave_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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static struct kobj_type ktype_ec_slave_sdos = {
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    .release = ec_slave_sdos_clear
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Slave constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
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                  ec_master_t *master, /**< EtherCAT master */
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                  uint16_t ring_position, /**< ring position */
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                  uint16_t station_address /**< station address to configure */
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                  )
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{
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    unsigned int i;
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    slave->ring_position = ring_position;
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    slave->station_address = station_address;
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    slave->master = master;
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    slave->config = NULL;
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    slave->requested_state = EC_SLAVE_STATE_PREOP;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->online_state = EC_SLAVE_ONLINE;
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    slave->self_configured = 0;
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    slave->error_flag = 0;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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    slave->base_fmmu_count = 0;
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    slave->eeprom_data = NULL;
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Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   131
    slave->eeprom_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   132
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   133
    slave->sii_alias = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   134
    slave->sii_vendor_id = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   135
    slave->sii_product_code = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   136
    slave->sii_revision_number = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   137
    slave->sii_serial_number = 0;
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   138
    slave->sii_rx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   139
    slave->sii_rx_mailbox_size = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   140
    slave->sii_tx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   141
    slave->sii_tx_mailbox_size = 0;
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   142
    slave->sii_mailbox_protocols = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   143
    slave->sii_group = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   144
    slave->sii_image = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   145
    slave->sii_order = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   146
    slave->sii_name = NULL;
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   147
    slave->sii_current_on_ebus = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   148
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   149
    slave->sii_strings = NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   150
    slave->sii_string_count = 0;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   151
    slave->sii_syncs = NULL;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   152
    slave->sii_sync_count = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   153
    INIT_LIST_HEAD(&slave->sii_pdos);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
   154
    INIT_LIST_HEAD(&slave->sdo_dictionary);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   155
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   156
    slave->sdo_dictionary_fetched = 0;
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents: 740
diff changeset
   157
    slave->pdo_mapping_fetched = 0;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   158
    slave->jiffies_preop = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   159
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   160
    for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   161
        slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   162
        slave->dl_loop[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   163
        slave->dl_signal[i] = 0;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   164
        slave->sii_physical_layer[i] = 0xFF;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   165
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   166
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   167
    // init kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   168
    memset(&slave->kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   169
    kobject_init(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   170
    slave->kobj.ktype = &ktype_ec_slave;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   171
    slave->kobj.parent = &master->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   172
    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   173
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   174
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   175
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   176
    if (kobject_add(&slave->kobj)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   177
        EC_ERR("Failed to add slave's kobject.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   178
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   179
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   180
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   181
    // init Sdo kobject and add it to the hierarchy
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   182
    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   183
    kobject_init(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   184
    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   185
    slave->sdo_kobj.parent = &slave->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   186
    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   187
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   188
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   189
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   190
    if (kobject_add(&slave->sdo_kobj)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   191
        EC_ERR("Failed to add Sdos kobject.\n");
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   192
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   193
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   194
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   195
    return 0;
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   196
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   197
 out_sdo_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   198
    kobject_put(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   199
    kobject_del(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   200
 out_slave_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   201
    kobject_put(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   202
    return -1;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   203
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   204
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   205
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   206
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   207
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   208
   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
   209
   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
   210
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   211
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   212
void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   213
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   214
    ec_sdo_t *sdo, *next_sdo;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   215
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   216
    if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   217
        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
   218
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   219
    // 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
   220
    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
   221
        list_del(&sdo->list);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   222
        ec_sdo_destroy(sdo);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   223
    }
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   224
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   225
    // free Sdo kobject
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   226
    kobject_del(&slave->sdo_kobj);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   227
    kobject_put(&slave->sdo_kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   228
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   229
    // destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   230
    kobject_del(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   231
    kobject_put(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   232
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   233
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   234
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   235
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   236
/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   237
   Clear and free slave.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   238
   This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   239
   once there are no more references to it.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   240
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   241
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   242
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   243
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   244
    ec_slave_t *slave;
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
   245
    ec_pdo_t *pdo, *next_pdo;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   246
    unsigned int i;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   247
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   248
    slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   249
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   250
    // free all strings
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   251
    if (slave->sii_strings) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   252
        for (i = 0; i < slave->sii_string_count; i++)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   253
            kfree(slave->sii_strings[i]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   254
        kfree(slave->sii_strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   255
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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parents: 119
diff changeset
   256
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   257
    // free all sync managers
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
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diff changeset
   258
    if (slave->sii_syncs) {
e94a16bc52ce Layed out sync manager structures and methods into own files.
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parents: 627
diff changeset
   259
        for (i = 0; i < slave->sii_sync_count; i++) {
e94a16bc52ce Layed out sync manager structures and methods into own files.
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diff changeset
   260
            ec_sync_clear(&slave->sii_syncs[i]);
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diff changeset
   261
        }
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diff changeset
   262
        kfree(slave->sii_syncs);
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diff changeset
   263
    }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   264
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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diff changeset
   265
    // free all SII Pdos
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   266
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   267
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   268
        ec_pdo_clear(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   269
        kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   270
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   271
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   272
    if (slave->eeprom_data) kfree(slave->eeprom_data);
418
7a43437bc48b Fixed memory leak in master and slave destructors.
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parents: 416
diff changeset
   273
7a43437bc48b Fixed memory leak in master and slave destructors.
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diff changeset
   274
    kfree(slave);
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   275
}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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parents: 119
diff changeset
   276
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   277
/*****************************************************************************/
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   278
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   279
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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   280
 * Sdo kobject clear method.
758
8fa6f825eb7d Updated Doxygen documentation.
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diff changeset
   281
 */
482
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   282
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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   283
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for Sdos */)
482
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   284
{
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   285
}
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   286
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   287
/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   288
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   289
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   290
 * 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
   291
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   292
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   293
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   294
        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
   295
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   296
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   297
    if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   298
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   299
            char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   300
                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
   301
            ec_state_string(slave->current_state, old_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   302
            ec_state_string(new_state, cur_state);
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   303
            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
   304
                   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
   305
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   306
        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
   307
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   308
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   309
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   310
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   311
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   312
/**
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   313
 * Sets the online 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
   314
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   315
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   316
void ec_slave_set_online_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
   317
        ec_slave_online_state_t new_state /**< new online state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   318
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   319
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   320
    if (new_state == EC_SLAVE_OFFLINE &&
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   321
            slave->online_state == EC_SLAVE_ONLINE) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   322
        if (slave->master->debug_level)
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   323
            EC_DBG("Slave %u: offline.\n", slave->ring_position);
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   324
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   325
    else if (new_state == EC_SLAVE_ONLINE &&
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   326
            slave->online_state == EC_SLAVE_OFFLINE) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   327
        slave->error_flag = 0; // clear error flag
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   328
        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
   329
            char 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
   330
            ec_state_string(slave->current_state, cur_state);
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   331
            EC_DBG("Slave %u: online (%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
   332
                   slave->ring_position, 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
   333
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   334
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   335
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   336
    slave->online_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
   337
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   338
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   339
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   340
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   341
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   342
 * Request a slave state and resets the error flag.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   343
 */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   344
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   345
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
   346
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   347
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   348
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   349
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   350
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   351
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   352
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   353
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   354
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   355
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   356
   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
   357
   \todo range checking
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   358
   \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
   359
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   360
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   361
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   362
        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
   363
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   364
        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
   365
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   366
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   367
    int i;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   368
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   369
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   370
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   371
    slave->sii_string_count = data[0];
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   372
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   373
    if (!slave->sii_string_count)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   374
        return 0;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   375
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   376
    if (!(slave->sii_strings =
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   377
                kmalloc(sizeof(char *) * slave->sii_string_count,
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   378
                    GFP_KERNEL))) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   379
        EC_ERR("Failed to allocate string array memory.\n");
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   380
        goto out_zero;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   381
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   382
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   383
    offset = 1;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   384
    for (i = 0; i < slave->sii_string_count; i++) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   385
        size = data[offset];
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   386
        // allocate memory for string structure and data at a single blow
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   387
        if (!(slave->sii_strings[i] =
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   388
                    kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   389
            EC_ERR("Failed to allocate string memory.\n");
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   390
            goto out_free;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   391
        }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   392
        memcpy(slave->sii_strings[i], data + offset + 1, size);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   393
        slave->sii_strings[i][size] = 0x00; // append binary zero
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   394
        offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   395
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   396
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   397
    return 0;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   398
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   399
out_free:
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   400
    for (i--; i >= 0; i--) kfree(slave->sii_strings[i]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   401
    kfree(slave->sii_strings);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   402
    slave->sii_strings = NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   403
out_zero:
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   404
    slave->sii_string_count = 0;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   405
    return -1;
118
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
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   408
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   409
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   410
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   411
   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
   412
   \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
   413
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   414
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   415
int ec_slave_fetch_sii_general(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   416
        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
   417
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   418
        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
   419
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   420
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   421
    unsigned int i;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   422
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   423
    if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   424
        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
   425
                data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   426
        return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   427
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   428
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   429
    slave->sii_group = ec_slave_sii_string(slave, data[0]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   430
    slave->sii_image = ec_slave_sii_string(slave, data[1]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   431
    slave->sii_order = ec_slave_sii_string(slave, data[2]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   432
    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
   433
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   434
    for (i = 0; i < 4; i++)
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   435
        slave->sii_physical_layer[i] =
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   436
            (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
   437
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   438
    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   439
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   440
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   441
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   442
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   443
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   444
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   445
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   446
   Fetches data from a SYNC MANAGER category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   447
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   448
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   449
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   450
int ec_slave_fetch_sii_syncs(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   451
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   452
        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
   453
        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
   454
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   455
{
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   456
    unsigned int i;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   457
    ec_sync_t *sync;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   458
    size_t memsize;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   459
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   460
    // 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
   461
    if (data_size % 8) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   462
        EC_ERR("Invalid SII sync manager size %u in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   463
                data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   464
        return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   465
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   466
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   467
    slave->sii_sync_count = data_size / 8;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   468
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   469
    memsize = sizeof(ec_sync_t) * slave->sii_sync_count;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   470
    if (!(slave->sii_syncs = kmalloc(memsize, GFP_KERNEL))) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   471
        EC_ERR("Failed to allocate %u bytes for sync managers.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   472
                memsize);
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   473
        slave->sii_sync_count = 0;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   474
        return -1;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   475
    }
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   476
    
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   477
    for (i = 0; i < slave->sii_sync_count; i++, data += 8) {
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   478
        sync = &slave->sii_syncs[i];
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   479
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   480
        ec_sync_init(sync, slave, i);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   481
        sync->physical_start_address = EC_READ_U16(data);
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   482
        sync->length = EC_READ_U16(data + 2);
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   483
        sync->control_register = EC_READ_U8 (data + 4);
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   484
        sync->enable = EC_READ_U8 (data + 6);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   485
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   486
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   487
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   488
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   489
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   490
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   491
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   492
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   493
   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
   494
   \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
   495
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   496
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   497
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   498
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   499
        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
   500
        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
   501
        ec_direction_t dir /**< Pdo direction. */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   502
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   503
{
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   504
    ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   505
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   506
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   507
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   508
    while (data_size >= 8) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   509
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   510
            EC_ERR("Failed to allocate Pdo memory.\n");
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   511
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   512
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   513
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   514
        ec_pdo_init(pdo);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   515
        pdo->dir = dir;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   516
        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
   517
        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
   518
        pdo->sync_index = EC_READ_U8(data + 3);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   519
        if (ec_pdo_set_name(pdo,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   520
                ec_slave_sii_string(slave, EC_READ_U8(data + 5)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   521
            ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   522
            kfree(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   523
            return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   524
        }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   525
        list_add_tail(&pdo->list, &slave->sii_pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   526
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   527
        data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   528
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   529
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   530
        for (i = 0; i < entry_count; i++) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   531
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   532
                EC_ERR("Failed to allocate Pdo entry memory.\n");
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   533
                return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   534
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   535
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   536
            ec_pdo_entry_init(entry);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   537
            entry->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   538
            entry->subindex = EC_READ_U8(data + 2);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   539
            if (ec_pdo_entry_set_name(entry,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   540
                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   541
                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
   542
                kfree(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   543
                return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   544
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   545
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   546
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   547
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   548
            data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   549
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   550
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   551
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   552
        // 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
   553
        if (pdo->sync_index >= 0) {
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   554
            ec_sync_t *sync;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   555
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   556
            if (pdo->sync_index >= slave->sii_sync_count) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   557
                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
   558
                        pdo->sync_index, pdo->index, slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   559
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   560
            }
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   561
            sync = &slave->sii_syncs[pdo->sync_index];
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   562
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   563
            if (ec_pdo_mapping_add_pdo(&sync->mapping, pdo))
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   564
                return -1;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   565
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   566
            sync->mapping_source = EC_SYNC_MAPPING_SII;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   567
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   568
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   569
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   570
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   571
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   572
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   573
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   574
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   575
/**
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   576
   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
   577
   \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
   578
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   579
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   580
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   581
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   582
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   583
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   584
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   585
    if (!index--) 
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   586
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   587
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   588
    if (index >= slave->sii_string_count) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   589
        if (slave->master->debug_level)
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   590
            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
   591
                    index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   592
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   593
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   594
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   595
    return slave->sii_strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   596
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   597
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   598
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   599
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   600
/** Outputs all information about a certain slave.
630
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   601
 */
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   602
ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   603
        char *buffer /**< Output buffer */
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   604
        )
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   605
{
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   606
    ec_sync_t *sync;
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
   607
    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
   608
    ec_pdo_entry_t *pdo_entry;
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   609
    int first, i;
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   610
    char *large_buffer, *buf;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   611
    unsigned int size;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   612
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   613
    if (!(large_buffer = (char *) kmalloc(PAGE_SIZE * 2, GFP_KERNEL))) {
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   614
        return -ENOMEM;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   615
    }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   616
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   617
    buf = large_buffer;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   618
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   619
    buf += sprintf(buf, "Ring position: %u\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   620
                   slave->ring_position);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   621
    buf += sprintf(buf, "State: ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   622
    buf += ec_state_string(slave->current_state, buf);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   623
    buf += sprintf(buf, " (");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   624
    buf += ec_state_string(slave->requested_state, buf);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   625
    buf += sprintf(buf, ")\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   626
    buf += sprintf(buf, "Flags: %s\n\n", slave->error_flag ? "ERROR" : "ok");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   627
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   628
    buf += sprintf(buf, "Data link status:\n");
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   629
    for (i = 0; i < 4; i++) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   630
        buf += sprintf(buf, "  Port %u: Phy %u (",
764
41a5bdff9d9b Minor output changes in slave info file.
Florian Pose <fp@igh-essen.com>
parents: 763
diff changeset
   631
                i, slave->sii_physical_layer[i]);
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   632
        switch (slave->sii_physical_layer[i]) {
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   633
            case 0x00:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   634
                buf += sprintf(buf, "EBUS");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   635
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   636
            case 0x01:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   637
                buf += sprintf(buf, "100BASE-TX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   638
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   639
            case 0x02:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   640
                buf += sprintf(buf, "100BASE-FX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   641
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   642
            default:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   643
                buf += sprintf(buf, "unknown");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   644
        }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   645
        buf += sprintf(buf, "), Link %s, Loop %s, %s\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   646
                       slave->dl_link[i] ? "up" : "down",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   647
                       slave->dl_loop[i] ? "closed" : "open",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   648
                       slave->dl_signal[i] ? "Signal detected" : "No signal");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   649
    }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   650
    buf += sprintf(buf, "\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   651
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   652
    if (slave->sii_alias)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   653
        buf += sprintf(buf, "Configured station alias:"
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   654
                       " 0x%04X (%u)\n\n", slave->sii_alias, slave->sii_alias);
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   655
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   656
    buf += sprintf(buf, "Identity:\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   657
    buf += sprintf(buf, "  Vendor ID: 0x%08X (%u)\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   658
                   slave->sii_vendor_id, slave->sii_vendor_id);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   659
    buf += sprintf(buf, "  Product code: 0x%08X (%u)\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   660
                   slave->sii_product_code, slave->sii_product_code);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   661
    buf += sprintf(buf, "  Revision number: 0x%08X (%u)\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   662
                   slave->sii_revision_number, slave->sii_revision_number);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   663
    buf += sprintf(buf, "  Serial number: 0x%08X (%u)\n\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   664
                   slave->sii_serial_number, slave->sii_serial_number);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   665
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   666
    if (slave->sii_mailbox_protocols) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   667
        buf += sprintf(buf, "Mailboxes:\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   668
        buf += sprintf(buf, "  RX: 0x%04X/%u, TX: 0x%04X/%u\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   669
                slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   670
                slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   671
        buf += sprintf(buf, "  Supported protocols: ");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   672
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   673
        first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   674
        if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   675
            buf += sprintf(buf, "AoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   676
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   677
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   678
        if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   679
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   680
            buf += sprintf(buf, "EoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   681
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   682
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   683
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   684
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   685
            buf += sprintf(buf, "CoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   686
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   687
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   688
        if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   689
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   690
            buf += sprintf(buf, "FoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   691
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   692
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   693
        if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   694
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   695
            buf += sprintf(buf, "SoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   696
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   697
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   698
        if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   699
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   700
            buf += sprintf(buf, "VoE");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   701
        }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   702
        buf += sprintf(buf, "\n\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   703
    }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   704
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   705
    buf += sprintf(buf, "Current consumption: %i mA\n\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   706
            slave->sii_current_on_ebus);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   707
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   708
    if (slave->sii_group || slave->sii_image || slave->sii_order
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   709
            || slave->sii_name) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   710
        buf += sprintf(buf, "General:\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   711
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   712
        if (slave->sii_group)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   713
            buf += sprintf(buf, "  Group: %s\n", slave->sii_group);
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   714
        if (slave->sii_image)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   715
            buf += sprintf(buf, "  Image: %s\n", slave->sii_image);
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   716
        if (slave->sii_order)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   717
            buf += sprintf(buf, "  Order number: %s\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   718
                    slave->sii_order);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   719
        if (slave->sii_name)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   720
            buf += sprintf(buf, "  Name: %s\n", slave->sii_name);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   721
        buf += sprintf(buf, "\n");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   722
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   723
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   724
    if (slave->sii_sync_count) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   725
        buf += sprintf(buf, "Sync managers / Pdo mapping:\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   726
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   727
        for (i = 0; i < slave->sii_sync_count; i++) {
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   728
            sync = &slave->sii_syncs[i];
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   729
            buf += sprintf(buf,
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   730
                    "  SM%u: addr 0x%04X, size %u, control 0x%02X, %s\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   731
                    sync->index, sync->physical_start_address,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   732
                    sync->length, sync->control_register,
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   733
                    sync->enable ? "enable" : "disable");
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   734
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   735
            if (list_empty(&sync->mapping.pdos)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   736
                buf += sprintf(buf, "    No Pdos mapped.\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   737
            } else if (sync->mapping_source != EC_SYNC_MAPPING_NONE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   738
                buf += sprintf(buf,
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   739
                        "    Pdo mapping information from %s.\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   740
                        sync->mapping_source == EC_SYNC_MAPPING_SII
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   741
                        ? "SII" : "CoE");
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   742
            }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   743
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   744
            list_for_each_entry(pdo, &sync->mapping.pdos, list) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   745
                buf += sprintf(buf, "    %s 0x%04X \"%s\"\n",
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   746
                        pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   747
                        pdo->index, pdo->name ? pdo->name : "???");
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   748
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   749
                list_for_each_entry(pdo_entry, &pdo->entries, list) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   750
                    buf += sprintf(buf,
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   751
                            "      0x%04X:%X \"%s\", %u bit\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   752
                            pdo_entry->index, pdo_entry->subindex,
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   753
                            pdo_entry->name ? pdo_entry->name : "???",
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   754
                            pdo_entry->bit_length);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   755
                }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   756
            }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   757
        }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   758
        buf += sprintf(buf, "\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   759
    }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   760
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   761
    // type-cast to avoid warnings on some compilers
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   762
    if (!list_empty((struct list_head *) &slave->sii_pdos)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   763
        buf += sprintf(buf, "Available Pdos from SII:\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   764
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   765
        list_for_each_entry(pdo, &slave->sii_pdos, list) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   766
            buf += sprintf(buf, "  %s 0x%04X \"%s\"",
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   767
                    pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   768
                    pdo->index, pdo->name ? pdo->name : "???");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   769
            if (pdo->sync_index >= 0)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   770
                buf += sprintf(buf, ", default mapping: SM%u.\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   771
                        pdo->sync_index);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   772
            else
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   773
                buf += sprintf(buf, ", no default mapping.\n");
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   774
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   775
            list_for_each_entry(pdo_entry, &pdo->entries, list) {
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   776
                buf += sprintf(buf, "    0x%04X:%X \"%s\", %u bit\n",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   777
                        pdo_entry->index, pdo_entry->subindex,
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   778
                        pdo_entry->name ? pdo_entry->name : "???",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   779
                        pdo_entry->bit_length);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   780
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   781
        }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   782
        buf += sprintf(buf, "\n");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   783
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   784
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   785
    size = buf - large_buffer;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   786
    if (size >= PAGE_SIZE) {
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   787
        const char trunc[] = "\n---TRUNCATED---\n";
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   788
        unsigned int len = strlen(trunc);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   789
        memcpy(large_buffer + PAGE_SIZE - len, trunc, len);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   790
    }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   791
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   792
    size = min(size, (unsigned int) PAGE_SIZE);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   793
    memcpy(buffer, large_buffer, size);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   794
    kfree(large_buffer);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   795
    return size;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   796
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   797
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   798
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   799
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   800
/**
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   801
 * Schedules an EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   802
 * \return 0 case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   803
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   804
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   805
int ec_slave_schedule_eeprom_writing(
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   806
        ec_eeprom_write_request_t *request /**< EEPROM write request */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   807
        )
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   808
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   809
    ec_master_t *master = request->slave->master;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   810
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   811
    request->state = EC_REQUEST_QUEUED;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   812
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   813
    // schedule EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   814
    down(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   815
    list_add_tail(&request->list, &master->eeprom_requests);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   816
    up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   817
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   818
    // wait for processing through FSM
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   819
    if (wait_event_interruptible(master->eeprom_queue,
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   820
                request->state != EC_REQUEST_QUEUED)) {
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   821
        // interrupted by signal
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   822
        down(&master->eeprom_sem);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   823
        if (request->state == EC_REQUEST_QUEUED) {
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   824
            list_del(&request->list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   825
            up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   826
            return -EINTR;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   827
        }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   828
        // request already processing: interrupt not possible.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   829
        up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   830
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   831
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   832
    // wait until master FSM has finished processing
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   833
    wait_event(master->eeprom_queue,
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   834
            request->state != EC_REQUEST_IN_PROGRESS);
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   835
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   836
    return request->state == EC_REQUEST_COMPLETE ? 0 : -EIO;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   837
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   838
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   839
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   840
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   841
/**
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   842
 * Calculates the EEPROM checksum field.
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   843
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   844
 * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   845
 * initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   846
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   847
 * The below code was originally generated with PYCRC
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   848
 * http://www.tty1.net/pycrc
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   849
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   850
 * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   851
 *   --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   852
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   853
 * \return CRC8
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   854
 */
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   855
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   856
uint8_t ec_slave_eeprom_crc(
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   857
        const uint8_t *data, /**< pointer to data */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   858
        size_t length /**< number of bytes in \a data */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   859
        )
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   860
{
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   861
    unsigned int i;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   862
    uint8_t bit, byte, crc = 0x48;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   863
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   864
    while (length--) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   865
        byte = *data++;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   866
        for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   867
            bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   868
            crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   869
            if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   870
        }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   871
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   872
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   873
    for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   874
        bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   875
        crc <<= 1;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   876
        if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   877
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   878
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   879
    return crc;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   880
}
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   881
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   882
/*****************************************************************************/
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   883
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   884
/**
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   885
 * Writes complete EEPROM contents to a slave.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   886
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   887
 */
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   888
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   889
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   890
        const uint8_t *data, /**< new EEPROM data */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   891
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   892
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   893
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   894
    ec_eeprom_write_request_t request;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   895
    const uint16_t *cat_header;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   896
    uint16_t cat_type, cat_size;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   897
    int ret;
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   898
    uint8_t crc;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   899
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   900
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
   901
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   902
        return -EBUSY;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   903
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   904
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   905
    if (size % 2) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   906
        EC_ERR("EEPROM data size is odd! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   907
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   908
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   909
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   910
    // init EEPROM write request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   911
    INIT_LIST_HEAD(&request.list);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   912
    request.slave = slave;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   913
    request.data = data;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   914
    request.word_offset = 0;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   915
    request.word_size = size / 2;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   916
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   917
    if (request.word_size < 0x0041) {
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   918
        EC_ERR("EEPROM data too short! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   919
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   920
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   921
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   922
    // calculate checksum
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   923
    crc = ec_slave_eeprom_crc(data, 14); // CRC over words 0 to 6
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   924
    if (crc != data[14]) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   925
        EC_WARN("EEPROM CRC incorrect. Must be 0x%02x.\n", crc);
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   926
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   927
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   928
    cat_header = (const uint16_t *) request.data
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   929
		+ EC_FIRST_EEPROM_CATEGORY_OFFSET;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   930
    cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   931
    while (cat_type != 0xFFFF) { // cycle through categories
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   932
        if (cat_header + 1 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   933
				(const uint16_t *) request.data + request.word_size) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   934
            EC_ERR("EEPROM data corrupted! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   935
            return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   936
        }
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   937
        cat_size = EC_READ_U16(cat_header + 1);
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   938
        if (cat_header + cat_size + 2 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   939
				(const uint16_t *) request.data + request.word_size) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   940
            EC_ERR("EEPROM data corrupted! Dropping.\n");
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   941
            return -EINVAL;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   942
        }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   943
        cat_header += cat_size + 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   944
        cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   945
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   946
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   947
    // EEPROM data ok. schedule writing.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   948
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   949
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   950
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   951
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   952
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   953
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   954
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   955
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   956
/**
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   957
 * Writes the Secondary slave address (alias) to the slave's EEPROM.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   958
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   959
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   960
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   961
ssize_t ec_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   962
        const uint8_t *data, /**< alias string */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   963
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   964
        )
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   965
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   966
    ec_eeprom_write_request_t request;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   967
    char *remainder;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   968
    uint16_t alias;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   969
    int ret;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   970
    uint8_t eeprom_data[16], crc;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   971
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   972
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   973
        EC_ERR("Writing to EEPROM is only allowed in idle mode!\n");
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   974
        return -EBUSY;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   975
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   976
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   977
    alias = simple_strtoul(data, &remainder, 0);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   978
    if (remainder == (char *) data || (*remainder && *remainder != '\n')) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   979
        EC_ERR("Invalid alias value! Dropping.\n");
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   980
        return -EINVAL;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   981
    }
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   982
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   983
    if (!slave->eeprom_data || slave->eeprom_size < 16) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   984
        EC_ERR("Failed to read EEPROM contents from slave %u.\n",
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   985
                slave->ring_position);
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   986
        return -EINVAL;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   987
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   988
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   989
    // copy first 7 words of recent EEPROM contents
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   990
    memcpy(eeprom_data, slave->eeprom_data, 14);
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   991
    
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   992
    // write new alias address in word 4
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   993
    EC_WRITE_U16(eeprom_data + 8, alias);
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   994
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   995
    // calculate new checksum over words 0 to 6
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   996
    crc = ec_slave_eeprom_crc(eeprom_data, 14);
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
   997
    EC_WRITE_U16(eeprom_data + 14, crc);
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   998
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   999
    // init EEPROM write request
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1000
    INIT_LIST_HEAD(&request.list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1001
    request.slave = slave;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1002
    request.data = eeprom_data;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1003
    request.word_offset = 0x0000;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1004
    request.word_size = 8;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1005
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1006
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1007
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1008
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1009
    slave->sii_alias = alias; // FIXME: do this in state machine
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1010
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1011
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1012
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1013
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1014
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1015
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1016
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1017
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1018
   Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1019
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1020
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1021
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1022
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1023
                                struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1024
                                char *buffer /**< memory to store data */
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1025
                                )
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1026
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1027
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1028
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1029
    if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1030
        return ec_slave_info(slave, buffer);
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1031
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1032
    else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1033
        switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1034
            case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1035
                return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1036
            case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1037
                return sprintf(buffer, "PREOP\n");
813
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
  1038
            case EC_SLAVE_STATE_SAFEOP:
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
  1039
                return sprintf(buffer, "SAFEOP\n");
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1040
            case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1041
                return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1042
            default:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1043
                return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1044
        }
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1045
    }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1046
    else if (attr == &attr_eeprom) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1047
        if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1048
            if (slave->eeprom_size > PAGE_SIZE) {
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
  1049
                EC_ERR("EEPROM contents of slave %u exceed 1 page (%u/%u).\n",
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1050
                       slave->ring_position, slave->eeprom_size,
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1051
                       (int) PAGE_SIZE);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1052
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1053
            else {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1054
                memcpy(buffer, slave->eeprom_data, slave->eeprom_size);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1055
                return slave->eeprom_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1056
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1057
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1058
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1059
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1060
        return sprintf(buffer, "%u\n", slave->sii_alias);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1061
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1062
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1063
    return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1064
}
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1065
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1066
/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1067
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1068
/**
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1069
   Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1070
   \return number of bytes processed, or negative error code
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1071
*/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1072
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1073
ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1074
                                 struct attribute *attr, /**< attribute */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1075
                                 const char *buffer, /**< memory with data */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1076
                                 size_t size /**< size of data to store */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1077
                                 )
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1078
{
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1079
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1080
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1081
    if (attr == &attr_state) {
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 400
diff changeset
  1082
        char state[EC_STATE_STRING_SIZE];
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1083
        if (!strcmp(buffer, "INIT\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1084
            ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1085
        else if (!strcmp(buffer, "PREOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1086
            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
813
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
  1087
        else if (!strcmp(buffer, "SAFEOP\n"))
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
  1088
            ec_slave_request_state(slave, EC_SLAVE_STATE_SAFEOP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1089
        else if (!strcmp(buffer, "OP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1090
            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1091
        else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1092
            EC_ERR("Invalid slave state \"%s\"!\n", buffer);
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1093
            return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1094
        }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1095
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1096
        ec_state_string(slave->requested_state, state);
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
  1097
        EC_INFO("Accepted new state %s for slave %u.\n",
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1098
                state, slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1099
        return size;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1100
    }
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1101
    else if (attr == &attr_eeprom) {
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1102
        return ec_slave_write_eeprom(slave, buffer, size);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1103
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1104
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1105
        return ec_slave_write_alias(slave, buffer, size);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1106
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1107
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1108
    return -EIO;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1109
}
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1110
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1111
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1112
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1113
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
  1114
 * Get the sync manager for either Rx- or Tx-Pdos.
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1115
 * \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
  1116
 */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1117
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
  1118
ec_sync_t *ec_slave_get_pdo_sync(
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1119
        ec_slave_t *slave, /**< EtherCAT slave */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1120
        ec_direction_t dir /**< input or output */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1121
        )
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1122
{
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1123
    unsigned int sync_index;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1124
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1125
    if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1126
        EC_ERR("Invalid direction!\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1127
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1128
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1129
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1130
    sync_index = (unsigned int) dir;
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1131
    if (slave->sii_mailbox_protocols) sync_index += 2;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1132
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1133
    if (sync_index >= slave->sii_sync_count)
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1134
        return NULL;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1135
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1136
    return &slave->sii_syncs[sync_index];
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1137
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1138
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1139
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1140
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1141
/**
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1142
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1143
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1144
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1145
int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1146
                      uint32_t vendor_id, /**< vendor ID */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1147
                      uint32_t product_code /**< product code */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1148
                      )
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1149
{
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1150
    if (vendor_id != slave->sii_vendor_id ||
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1151
        product_code != slave->sii_product_code) {
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
  1152
        EC_ERR("Invalid slave type at position %u:\n", slave->ring_position);
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1153
        EC_ERR("  Requested: 0x%08X 0x%08X\n", vendor_id, product_code);
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1154
        EC_ERR("      Found: 0x%08X 0x%08X\n",
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1155
                slave->sii_vendor_id, slave->sii_product_code);
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1156
        return -1;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1157
    }
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1158
    return 0;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1159
}
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1160
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1161
/*****************************************************************************/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1162
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1163
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
  1164
   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
  1165
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1166
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1167
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
  1168
                            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
  1169
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1170
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1171
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1172
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1173
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1174
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1175
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1176
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1177
    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
  1178
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1179
        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
  1180
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1181
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1182
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1183
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1184
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1185
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1186
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1187
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1188
/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1189
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1190
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
  1191
 * Get an Sdo from the dictionary.
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
  1192
 * \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
  1193
 */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1194
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1195
ec_sdo_t *ec_slave_get_sdo(
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1196
        ec_slave_t *slave /**< EtherCAT slave */,
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
  1197
        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
  1198
        )
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1199
{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1200
    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
  1201
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1202
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1203
        if (sdo->index != index) continue;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1204
        return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1205
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1206
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1207
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1208
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1209
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
  1210
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1211
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1212
/** Finds a mapped Pdo.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1213
 * \returns The desired Pdo object, or NULL.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1214
 */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1215
const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1216
        const ec_slave_t *slave, /**< Slave. */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1217
        uint16_t index /**< Pdo index to find. */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1218
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1219
{
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1220
    unsigned int i;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1221
    const ec_sync_t *sync;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1222
    const ec_pdo_t *pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1223
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1224
    for (i = 0; i < slave->sii_sync_count; i++) {
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1225
        sync = &slave->sii_syncs[i];
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1226
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1227
        if (!(pdo = ec_pdo_mapping_find_pdo(&sync->mapping, index)))
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1228
            continue;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1229
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1230
        return pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1231
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1232
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1233
    return NULL;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1234
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1235
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
  1236
/*****************************************************************************/