master/slave.c
author Florian Pose <fp@igh-essen.com>
Fri, 04 Aug 2006 09:53:14 +0000
changeset 334 2be97e069602
parent 333 2b15335f9f35
child 339 a3a4ee854bd8
permissions -rw-r--r--
Master information, timing.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "slave.h"
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
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                                 const char *, size_t);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_WRITE_ATTR(state);
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EC_SYSFS_READ_WRITE_ATTR(eeprom);
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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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    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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/** \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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    // init kobject and add it to the hierarchy
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    memset(&slave->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&slave->kobj);
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    slave->kobj.ktype = &ktype_ec_slave;
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    slave->kobj.parent = &master->kobj;
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    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
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        EC_ERR("Failed to set kobject name.\n");
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        kobject_put(&slave->kobj);
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        return -1;
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    }
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    slave->master = master;
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    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->error_flag = 0;
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    slave->online = 1;
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    slave->fmmu_count = 0;
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    slave->registered = 0;
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    slave->coupler_index = 0;
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    slave->coupler_subindex = 0xFFFF;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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   131
    slave->base_fmmu_count = 0;
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    slave->base_sync_count = 0;
325
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    slave->eeprom_data = NULL;
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   135
    slave->eeprom_size = 0;
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   136
    slave->new_eeprom_data = NULL;
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   137
    slave->new_eeprom_size = 0;
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diff changeset
   138
114
e4b4b5a85e75 Slave alias implementiert.
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   139
    slave->sii_alias = 0;
73
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    slave->sii_vendor_id = 0;
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   141
    slave->sii_product_code = 0;
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    slave->sii_revision_number = 0;
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   143
    slave->sii_serial_number = 0;
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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   144
    slave->sii_rx_mailbox_offset = 0;
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   145
    slave->sii_rx_mailbox_size = 0;
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   146
    slave->sii_tx_mailbox_offset = 0;
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   147
    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.
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    slave->sii_mailbox_protocols = 0;
325
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    slave->sii_group = NULL;
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    slave->sii_image = NULL;
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    slave->sii_order = NULL;
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    slave->sii_name = NULL;
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    INIT_LIST_HEAD(&slave->sii_strings);
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    INIT_LIST_HEAD(&slave->sii_syncs);
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    INIT_LIST_HEAD(&slave->sii_pdos);
135
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   157
    INIT_LIST_HEAD(&slave->sdo_dictionary);
329
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   158
    INIT_LIST_HEAD(&slave->sdo_confs);
275
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   159
    INIT_LIST_HEAD(&slave->varsize_fields);
145
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diff changeset
   160
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
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   161
    for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
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   162
        slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
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   163
        slave->dl_loop[i] = 0;
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   164
        slave->dl_signal[i] = 0;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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   165
        slave->sii_physical_layer[i] = 0xFF;
145
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diff changeset
   166
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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   167
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   168
    return 0;
73
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   169
}
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   171
/*****************************************************************************/
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   173
/**
195
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   Slave destructor.
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   175
*/
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   176
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void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
182
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{
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    ec_slave_t *slave;
325
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    ec_sii_string_t *string, *next_str;
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    ec_sii_sync_t *sync, *next_sync;
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    ec_sii_pdo_t *pdo, *next_pdo;
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    ec_sii_pdo_entry_t *entry, *next_ent;
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
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   184
    ec_sdo_t *sdo, *next_sdo;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
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   185
    ec_sdo_entry_t *en, *next_en;
329
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   186
    ec_sdo_data_t *sdodata, *next_sdodata;
275
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   187
    ec_varsize_t *var, *next_var;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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diff changeset
   188
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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   189
    slave = container_of(kobj, ec_slave_t, kobj);
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   190
195
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   191
    // free all string objects
325
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   192
    list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {
118
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diff changeset
   193
        list_del(&string->list);
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   194
        kfree(string);
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   195
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   196
195
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   197
    // free all sync managers
325
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   198
    list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   199
        list_del(&sync->list);
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   200
        kfree(sync);
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diff changeset
   201
    }
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diff changeset
   202
195
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   203
    // free all PDOs
325
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   204
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   205
        list_del(&pdo->list);
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diff changeset
   206
        if (pdo->name) kfree(pdo->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   207
195
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   208
        // free all PDO entries
126
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diff changeset
   209
        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
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diff changeset
   210
            list_del(&entry->list);
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diff changeset
   211
            if (entry->name) kfree(entry->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   212
            kfree(entry);
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diff changeset
   213
        }
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diff changeset
   214
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   215
        kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   216
    }
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diff changeset
   217
325
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   218
    if (slave->sii_group) kfree(slave->sii_group);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   219
    if (slave->sii_image) kfree(slave->sii_image);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   220
    if (slave->sii_order) kfree(slave->sii_order);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   221
    if (slave->sii_name) kfree(slave->sii_name);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   222
195
674071846ee3 Translated all comments and documentation to english language.
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   223
    // free all SDOs
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   224
    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   225
        list_del(&sdo->list);
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diff changeset
   226
        if (sdo->name) kfree(sdo->name);
161
ddb7266d1c56 Bugfix: Discovered memory leak.
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diff changeset
   227
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   228
        // free all SDO entries
139
998215ab9b92 Laden der SDO-Subindizes.
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diff changeset
   229
        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
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diff changeset
   230
            list_del(&en->list);
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diff changeset
   231
            kfree(en);
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diff changeset
   232
        }
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   233
        kfree(sdo);
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diff changeset
   234
    }
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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parents: 144
diff changeset
   235
329
d004349777fc SDO configuration interface, SDO download state machine.
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diff changeset
   236
    // free all SDO configurations
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diff changeset
   237
    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
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diff changeset
   238
        list_del(&sdodata->list);
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diff changeset
   239
        kfree(sdodata->data);
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diff changeset
   240
        kfree(sdodata);
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diff changeset
   241
    }
d004349777fc SDO configuration interface, SDO download state machine.
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diff changeset
   242
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   243
    // free information about variable sized data fields
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   244
    list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) {
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   245
        list_del(&var->list);
ba51285d4ef6 Variable-sized data fields, BK1120.
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parents: 269
diff changeset
   246
        kfree(var);
ba51285d4ef6 Variable-sized data fields, BK1120.
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parents: 269
diff changeset
   247
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
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parents: 269
diff changeset
   248
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   249
    if (slave->eeprom_data) kfree(slave->eeprom_data);
269
a03be9a6fed6 EEPROM writing via SysFS.
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parents: 266
diff changeset
   250
    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   251
}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   252
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   253
/*****************************************************************************/
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
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/**
195
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   Fetches data from a STRING category.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
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                           const uint8_t *data /**< category data */
118
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                           )
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{
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    unsigned int string_count, i;
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    size_t size;
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    off_t offset;
325
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    ec_sii_string_t *string;
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    string_count = data[0];
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    offset = 1;
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    for (i = 0; i < string_count; i++) {
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        size = data[offset];
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        // allocate memory for string structure and data at a single blow
325
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        if (!(string = (ec_sii_string_t *)
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              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {
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            EC_ERR("Failed to allocate string memory.\n");
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            return -1;
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        }
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        string->size = size;
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        // string memory appended to string structure
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        string->data = (char *) string + sizeof(ec_sii_string_t);
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        memcpy(string->data, data + offset + 1, size);
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        string->data[size] = 0x00;
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        list_add_tail(&string->list, &slave->sii_strings);
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        offset += 1 + size;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Fetches data from a GENERAL category.
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   \return 0 in case of success, else < 0
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*/
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325
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void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
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                            const uint8_t *data /**< category data */
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                            )
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{
190
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    unsigned int i;
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325
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    ec_slave_locate_string(slave, data[0], &slave->sii_group);
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    ec_slave_locate_string(slave, data[1], &slave->sii_image);
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    ec_slave_locate_string(slave, data[2], &slave->sii_order);
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    ec_slave_locate_string(slave, data[3], &slave->sii_name);
123
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190
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    for (i = 0; i < 4; i++)
195
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        slave->sii_physical_layer[i] =
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            (data[4] & (0x03 << (i * 2))) >> (i * 2);
118
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}
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/*****************************************************************************/
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/**
195
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   Fetches data from a SYNC MANAGER category.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
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                        const uint8_t *data, /**< category data */
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                        size_t word_count /**< number of words */
126
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                        )
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{
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    unsigned int sync_count, i;
325
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    ec_sii_sync_t *sync;
126
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    sync_count = word_count / 4; // sync manager struct is 4 words long
126
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    for (i = 0; i < sync_count; i++, data += 8) {
325
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        if (!(sync = (ec_sii_sync_t *)
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              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {
126
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            EC_ERR("Failed to allocate Sync-Manager memory.\n");
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            return -1;
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        }
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        sync->index = i;
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        sync->physical_start_address = EC_READ_U16(data);
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        sync->length                 = EC_READ_U16(data + 2);
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        sync->control_register       = EC_READ_U8 (data + 4);
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        sync->enable                 = EC_READ_U8 (data + 6);
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        list_add_tail(&sync->list, &slave->sii_syncs);
126
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    }
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    return 0;
118
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}
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/*****************************************************************************/
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/**
195
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   Fetches data from a [RT]XPDO category.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
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   358
                       const uint8_t *data, /**< category data */
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                       size_t word_count, /**< number of words */
325
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                       ec_sii_pdo_type_t pdo_type /**< PDO type */
126
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                       )
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{
325
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   363
    ec_sii_pdo_t *pdo;
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   364
    ec_sii_pdo_entry_t *entry;
126
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   365
    unsigned int entry_count, i;
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    while (word_count >= 4) {
325
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diff changeset
   368
        if (!(pdo = (ec_sii_pdo_t *)
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   369
              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {
126
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            EC_ERR("Failed to allocate PDO memory.\n");
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   371
            return -1;
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   372
        }
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   373
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        INIT_LIST_HEAD(&pdo->entries);
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   375
        pdo->type = pdo_type;
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   377
        pdo->index = EC_READ_U16(data);
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   378
        entry_count = EC_READ_U8(data + 2);
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diff changeset
   379
        pdo->sync_index = EC_READ_U8(data + 3);
126
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   380
        pdo->name = NULL;
325
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diff changeset
   381
        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);
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diff changeset
   383
        list_add_tail(&pdo->list, &slave->sii_pdos);
126
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   384
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   385
        word_count -= 4;
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diff changeset
   386
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   387
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   388
        for (i = 0; i < entry_count; i++) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   389
            if (!(entry = (ec_sii_pdo_entry_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   390
                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   391
                EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   392
                return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   393
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   394
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   395
            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
   396
            entry->subindex = EC_READ_U8(data + 2);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   397
            entry->name = NULL;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   398
            ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   399
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   400
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   401
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   402
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   403
            word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   404
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   405
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   406
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   407
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   408
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   409
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   410
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   411
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   412
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   413
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   414
   Searches the string list for an index and allocates a new string.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   415
   \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
   416
   \todo documentation
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   417
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   418
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   419
int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   420
                           unsigned int index, /**< string index */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   421
                           char **ptr /**< Address of the string pointer */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   422
                           )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   423
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   424
    ec_sii_string_t *string;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   425
    char *err_string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   426
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   427
    // Erst alten Speicher freigeben
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   428
    if (*ptr) {
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   429
        kfree(*ptr);
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   430
        *ptr = NULL;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   431
    }
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   432
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   433
    // Index 0 bedeutet "nicht belegt"
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   434
    if (!index) return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   435
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   436
    // EEPROM-String mit Index finden und kopieren
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   437
    list_for_each_entry(string, &slave->sii_strings, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   438
        if (--index) continue;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   439
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   440
        if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   441
            EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   442
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   443
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   444
        memcpy(*ptr, string->data, string->size + 1);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   445
        return 0;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   446
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   447
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   448
    EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   449
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   450
    err_string = "(string not found)";
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   451
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   452
    if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   453
        EC_WARN("Unable to allocate string memory.\n");
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   454
        return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   455
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   456
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   457
    memcpy(*ptr, err_string, strlen(err_string) + 1);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   458
    return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   459
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   460
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   461
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   462
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   463
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   464
   Prepares an FMMU configuration.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   465
   Configuration data for the FMMU is saved in the slave structure and is
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   466
   written to the slave in ecrt_master_activate().
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   467
   The FMMU configuration is done in a way, that the complete data range
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   468
   of the corresponding sync manager is covered. Seperate FMMUs are configured
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   469
   for each domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   470
   If the FMMU configuration is already prepared, the function returns with
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   471
   success.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   472
   \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
   473
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   474
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   475
int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   476
                          const ec_domain_t *domain, /**< domain */
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   477
                          const ec_sii_sync_t *sync  /**< sync manager */
160
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu().
Florian Pose <fp@igh-essen.com>
parents: 157
diff changeset
   478
                          )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   479
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   480
    unsigned int i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   481
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   482
    // FMMU configuration already prepared?
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   483
    for (i = 0; i < slave->fmmu_count; i++)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   484
        if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   485
            return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   486
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   487
    // reserve new FMMU...
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   488
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   489
    if (slave->fmmu_count >= slave->base_fmmu_count) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   490
        EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   491
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   492
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   493
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   494
    slave->fmmus[slave->fmmu_count].domain = domain;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   495
    slave->fmmus[slave->fmmu_count].sync = sync;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   496
    slave->fmmus[slave->fmmu_count].logical_start_address = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   497
    slave->fmmu_count++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   498
    slave->registered = 1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   499
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   500
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   501
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   502
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   503
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   504
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   505
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   506
   Outputs all information about a certain slave.
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   507
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   508
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   509
size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   510
                     char *buffer /**< Output buffer */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   511
                     )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   512
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   513
    off_t off = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   514
    ec_sii_sync_t *sync;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   515
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   516
    ec_sii_pdo_entry_t *pdo_entry;
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   517
    int first, i;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   518
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   519
    off += sprintf(buffer + off, "\nName: ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   520
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   521
    if (slave->sii_name)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   522
        off += sprintf(buffer + off, "%s", slave->sii_name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   523
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   524
    off += sprintf(buffer + off, "\n\nVendor ID: 0x%08X\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   525
                   slave->sii_vendor_id);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   526
    off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   527
                   slave->sii_product_code);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   528
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   529
    off += sprintf(buffer + off, "Ring position: %i\n", slave->ring_position);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   530
    off += sprintf(buffer + off, "Advanced position: %i:%i\n\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   531
                   slave->coupler_index, slave->coupler_subindex);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   532
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   533
    off += sprintf(buffer + off, "State: ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   534
    off += ec_state_string(slave->current_state, buffer + off);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   535
    off += sprintf(buffer + off, "\n\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   536
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   537
    off += sprintf(buffer + off, "Data link status:\n");
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   538
    for (i = 0; i < 4; i++) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   539
        off += sprintf(buffer + off, "  Port %i (", i);
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   540
        switch (slave->sii_physical_layer[i]) {
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   541
            case 0x00:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   542
                off += sprintf(buffer + off, "EBUS");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   543
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   544
            case 0x01:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   545
                off += sprintf(buffer + off, "100BASE-TX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   546
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   547
            case 0x02:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   548
                off += sprintf(buffer + off, "100BASE-FX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   549
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   550
            default:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   551
                off += sprintf(buffer + off, "unknown (%i)",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   552
                               slave->sii_physical_layer[i]);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   553
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   554
        off += sprintf(buffer + off, ") Link %s, Loop %s, %s\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   555
                       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
   556
                       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
   557
                       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
   558
    }
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   559
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   560
    if (slave->sii_mailbox_protocols) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   561
        off += sprintf(buffer + off, "\nMailboxes:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   562
        off += sprintf(buffer + off, "  RX mailbox: 0x%04X/%i,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   563
                       " TX mailbox: 0x%04X/%i\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   564
                       slave->sii_rx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   565
                       slave->sii_rx_mailbox_size,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   566
                       slave->sii_tx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   567
                       slave->sii_tx_mailbox_size);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   568
        off += sprintf(buffer + off, "  Supported protocols: ");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   569
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   570
        first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   571
        if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   572
            off += sprintf(buffer + off, "AoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   573
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   574
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   575
        if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   576
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   577
            off += sprintf(buffer + off, "EoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   578
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   579
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   580
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   581
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   582
            off += sprintf(buffer + off, "CoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   583
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   584
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   585
        if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   586
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   587
            off += sprintf(buffer + off, "FoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   588
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   589
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   590
        if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   591
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   592
            off += sprintf(buffer + off, "SoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   593
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   594
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   595
        if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   596
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   597
            off += sprintf(buffer + off, "VoE");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   598
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   599
        off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   600
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   601
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   602
    if (slave->sii_alias || slave->sii_group
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   603
        || slave->sii_image || slave->sii_order)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   604
        off += sprintf(buffer + off, "\nSII data:\n");
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   605
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   606
    if (slave->sii_alias)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   607
        off += sprintf(buffer + off, "  Configured station alias:"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   608
                       " 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   609
    if (slave->sii_group)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   610
        off += sprintf(buffer + off, "  Group: %s\n", slave->sii_group);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   611
    if (slave->sii_image)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   612
        off += sprintf(buffer + off, "  Image: %s\n", slave->sii_image);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   613
    if (slave->sii_order)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   614
        off += sprintf(buffer + off, "  Order#: %s\n", slave->sii_order);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   615
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   616
    if (!list_empty(&slave->sii_syncs))
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   617
        off += sprintf(buffer + off, "\nSync-Managers:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   618
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   619
    list_for_each_entry(sync, &slave->sii_syncs, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   620
        off += sprintf(buffer + off, "  %i: 0x%04X, length %i,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   621
                       " control 0x%02X, %s\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   622
                       sync->index, sync->physical_start_address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   623
                       sync->length, sync->control_register,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   624
                       sync->enable ? "enable" : "disable");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   625
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   626
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   627
    if (!list_empty(&slave->sii_pdos))
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   628
        off += sprintf(buffer + off, "\nPDOs:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   629
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   630
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   631
        off += sprintf(buffer + off,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   632
                       "  %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   633
                       pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   634
                       pdo->name ? pdo->name : "???",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   635
                       pdo->index, pdo->sync_index);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   636
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   637
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   638
            off += sprintf(buffer + off, "    \"%s\" 0x%04X:%X, %i Bit\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   639
                           pdo_entry->name ? pdo_entry->name : "???",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   640
                           pdo_entry->index, pdo_entry->subindex,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   641
                           pdo_entry->bit_length);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   642
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   643
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   644
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   645
    off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   646
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   647
    return off;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   648
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   649
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   650
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   651
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   652
#if 0
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   653
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   654
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   655
   Outputs the values of the CRC faoult counters and resets them.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   656
   \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
   657
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   658
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   659
int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   660
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   661
    ec_datagram_t *datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   662
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   663
    datagram = &slave->master->simple_datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   664
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   665
    if (ec_datagram_nprd(datagram, slave->station_address, 0x0300, 4))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   666
        return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   667
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
   668
        EC_WARN("Reading CRC fault counters failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   669
                slave->ring_position);
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   670
        return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   671
    }
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   672
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   673
    if (!EC_READ_U32(datagram->data)) return 0; // no CRC faults
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   674
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   675
    if (EC_READ_U8(datagram->data))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   676
        EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   677
                EC_READ_U8(datagram->data),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   678
                EC_READ_U8(datagram->data) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   679
                slave->ring_position);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   680
    if (EC_READ_U8(datagram->data + 1))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   681
        EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   682
                EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   683
                EC_READ_U8(datagram->data + 1) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   684
                slave->ring_position);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   685
    if (EC_READ_U8(datagram->data + 2))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   686
        EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   687
                EC_READ_U8(datagram->data + 2),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   688
                EC_READ_U8(datagram->data + 2) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   689
                slave->ring_position);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   690
    if (EC_READ_U8(datagram->data + 3))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   691
        EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   692
                EC_READ_U8(datagram->data + 3),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   693
                EC_READ_U8(datagram->data + 3) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   694
                slave->ring_position);
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   695
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   696
    // reset CRC counters
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   697
    if (ec_datagram_npwr(datagram, slave->station_address, 0x0300, 4))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   698
        return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   699
    EC_WRITE_U32(datagram->data, 0x00000000);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   700
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
   701
        EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   702
                slave->ring_position);
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   703
        return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   704
    }
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   705
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   706
    return 0;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   707
}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   708
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   709
#endif
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   710
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   711
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   712
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
   713
/**
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   714
   Schedules an EEPROM write operation.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   715
   \return 0 in case of success, else < 0
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   716
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   717
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   718
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   719
                              const uint8_t *data, /**< new EEPROM data */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   720
                              size_t size /**< size of data in bytes */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   721
                              )
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   722
{
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   723
    uint16_t word_size, cat_type, cat_size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   724
    const uint16_t *data_words, *next_header;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   725
    uint16_t *new_data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   726
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   727
    if (!slave->master->eeprom_write_enable) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   728
        EC_ERR("Writing EEPROMs not allowed! Enable via"
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   729
               " eeprom_write_enable SysFS entry.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   730
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   731
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   732
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
   733
    if (slave->master->mode != EC_MASTER_MODE_IDLE) {
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
   734
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   735
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   736
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   737
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   738
    if (slave->new_eeprom_data) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   739
        EC_ERR("Slave %i already has a pending EEPROM write operation!\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   740
               slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   741
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   742
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   743
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   744
    // coarse check of the data
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   745
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   746
    if (size % 2) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   747
        EC_ERR("EEPROM size is odd! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   748
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   749
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   750
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   751
    data_words = (const uint16_t *) data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   752
    word_size = size / 2;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   753
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   754
    if (word_size < 0x0041) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   755
        EC_ERR("EEPROM data too short! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   756
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   757
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   758
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   759
    next_header = data_words + 0x0040;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   760
    cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   761
    while (cat_type != 0xFFFF) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   762
        cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   763
        cat_size = EC_READ_U16(next_header + 1);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   764
        if ((next_header + cat_size + 2) - data_words >= word_size) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   765
            EC_ERR("EEPROM data seems to be corrupted! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   766
            return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   767
        }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   768
        next_header += cat_size + 2;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   769
        cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   770
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   771
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   772
    // data ok!
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   773
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   774
    if (!(new_data = (uint16_t *) kmalloc(word_size * 2, GFP_KERNEL))) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   775
        EC_ERR("Unable to allocate memory for new EEPROM data!\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   776
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   777
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   778
    memcpy(new_data, data, size);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   779
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   780
    slave->new_eeprom_size = word_size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   781
    slave->new_eeprom_data = new_data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   782
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   783
    EC_INFO("EEPROM writing scheduled for slave %i, %i words.\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   784
            slave->ring_position, word_size);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   785
    return 0;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   786
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   787
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   788
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   789
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   790
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   791
   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
   792
   \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
   793
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   794
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   795
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
   796
                                struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   797
                                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
   798
                                )
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   799
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   800
    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
   801
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   802
    if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   803
        return ec_slave_info(slave, buffer);
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   804
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   805
    else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   806
        switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   807
            case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   808
                return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   809
            case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   810
                return sprintf(buffer, "PREOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   811
            case EC_SLAVE_STATE_SAVEOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   812
                return sprintf(buffer, "SAVEOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   813
            case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   814
                return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   815
            default:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   816
                return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   817
        }
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   818
    }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   819
    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
   820
        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
   821
            if (slave->eeprom_size > PAGE_SIZE) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   822
                EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   823
                       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
   824
                       (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
   825
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   826
            else {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   827
                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
   828
                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
   829
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   830
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   831
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   832
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   833
    return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   834
}
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   835
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   836
/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   837
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   838
/**
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   839
   Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   840
   \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
   841
*/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   842
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   843
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
   844
                                 struct attribute *attr, /**< attribute */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   845
                                 const char *buffer, /**< memory with data */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   846
                                 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
   847
                                 )
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   848
{
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   849
    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
   850
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   851
    if (attr == &attr_state) {
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
   852
        char state[25];
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   853
        if (!strcmp(buffer, "INIT\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   854
            slave->requested_state = EC_SLAVE_STATE_INIT;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   855
        else if (!strcmp(buffer, "PREOP\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   856
            slave->requested_state = EC_SLAVE_STATE_PREOP;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   857
        else if (!strcmp(buffer, "SAVEOP\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   858
            slave->requested_state = EC_SLAVE_STATE_SAVEOP;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   859
        else if (!strcmp(buffer, "OP\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   860
            slave->requested_state = EC_SLAVE_STATE_OP;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   861
        else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   862
            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
   863
            return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   864
        }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   865
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
   866
        ec_state_string(slave->requested_state, state);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   867
        EC_INFO("Accepted new state %s for slave %i.\n",
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
   868
                state, slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   869
        slave->error_flag = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   870
        return size;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   871
    }
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   872
    else if (attr == &attr_eeprom) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   873
        if (!ec_slave_write_eeprom(slave, buffer, size))
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   874
            return size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   875
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   876
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   877
    return -EINVAL;
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   878
}
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   879
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
   880
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
   881
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
   882
/**
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   883
   Calculates the size of a sync manager by evaluating PDO sizes.
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   884
   \return sync manager size
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   885
*/
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   886
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   887
uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   888
                                 /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   889
                                 const ec_sii_sync_t *sync
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   890
                                 /**< sync manager */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   891
                                 )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   892
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   893
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   894
    ec_sii_pdo_entry_t *pdo_entry;
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   895
    unsigned int bit_size;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   896
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   897
    if (sync->length) return sync->length;
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   898
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   899
    bit_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   900
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   901
        if (pdo->sync_index != sync->index) continue;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   902
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   903
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   904
            bit_size += pdo_entry->bit_length;
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   905
        }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   906
    }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   907
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   908
    if (bit_size % 8) // round up to full bytes
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   909
        return bit_size / 8 + 1;
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   910
    else
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   911
        return bit_size / 8;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   912
}
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   913
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   914
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   915
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   916
/**
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   917
   \return non-zero if slave is a bus coupler
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   918
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   919
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   920
int ec_slave_is_coupler(const ec_slave_t *slave)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   921
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   922
    // TODO: Better bus coupler criterion
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   923
    return slave->sii_vendor_id == 0x00000002
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   924
        && slave->sii_product_code == 0x044C2C52;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   925
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   926
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   927
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   928
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   929
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   930
   \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
   931
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   932
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   933
int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   934
                      uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   935
                      uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   936
                      const uint8_t *data, /**< SDO data */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   937
                      size_t size /**< SDO size in bytes */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   938
                      )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   939
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   940
    ec_sdo_data_t *sdodata;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   941
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   942
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   943
        EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   944
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   945
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   946
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   947
    if (!(sdodata = (ec_sdo_data_t *)
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   948
          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   949
        EC_ERR("Failed to allocate memory for SDO configuration object!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   950
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   951
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   952
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   953
    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   954
        EC_ERR("Failed to allocate memory for SDO configuration data!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   955
        kfree(sdodata);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   956
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   957
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   958
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   959
    sdodata->index = sdo_index;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   960
    sdodata->subindex = sdo_subindex;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   961
    memcpy(sdodata->data, data, size);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   962
    sdodata->size = size;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   963
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   964
    list_add_tail(&sdodata->list, &slave->sdo_confs);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   965
    return 0;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   966
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   967
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   968
/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   969
 *  Realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   970
 *****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   971
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   972
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   973
   \return 0 in case of success, else < 0
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   974
   \ingroup RealtimeInterface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   975
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   976
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   977
int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   978
                         uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   979
                         uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   980
                         uint8_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   981
                         )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   982
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   983
    uint8_t data[1];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   984
    EC_WRITE_U8(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   985
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   986
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   987
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   988
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   989
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   990
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   991
   \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
   992
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   993
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   994
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   995
int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   996
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   997
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   998
                          uint16_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   999
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1000
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1001
    uint8_t data[2];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1002
    EC_WRITE_U16(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1003
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1004
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1005
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1006
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1007
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1008
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1009
   \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
  1010
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1011
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1012
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1013
int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1014
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1015
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1016
                          uint32_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1017
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1018
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1019
    uint8_t data[4];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1020
    EC_WRITE_U32(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1021
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1022
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1023
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1024
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1025
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1026
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1027
   \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
  1028
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1029
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1030
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1031
int ecrt_slave_pdo_size(ec_slave_t *slave, /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1032
                        uint16_t pdo_index, /**< PDO index */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1033
                        uint8_t pdo_subindex, /**< PDO subindex */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1034
                        size_t size /**< new PDO size */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1035
                        )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1036
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1037
    EC_WARN("ecrt_slave_pdo_size() currently not available.\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1038
    return -1;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1039
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1040
#if 0
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1041
    unsigned int i, j, field_counter;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1042
    const ec_sii_sync_t *sync;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1043
    const ec_pdo_t *pdo;
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1044
    ec_varsize_t *var;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1045
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1046
    if (!slave->type) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1047
        EC_ERR("Slave %i has no type information!\n", slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1048
        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1049
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1050
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1051
    field_counter = 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1052
    for (i = 0; (sync = slave->type->sync_managers[i]); i++) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1053
        for (j = 0; (field = sync->fields[j]); j++) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1054
            if (!strcmp(field->name, field_name)) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1055
                if (field_counter++ == field_index) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1056
                    // is the size of this field variable?
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1057
                    if (field->size) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1058
                        EC_ERR("Field \"%s\"[%i] of slave %i has no variable"
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1059
                               " size!\n", field->name, field_index,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1060
                               slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1061
                        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1062
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1063
                    // does a size specification already exist?
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1064
                    list_for_each_entry(var, &slave->varsize_fields, list) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1065
                        if (var->field == field) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1066
                            EC_WARN("Resizing field \"%s\"[%i] of slave %i.\n",
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1067
                                    field->name, field_index,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1068
                                    slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1069
                            var->size = size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1070
                            return 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1071
                        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1072
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1073
                    // create a new size specification...
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1074
                    if (!(var = kmalloc(sizeof(ec_varsize_t), GFP_KERNEL))) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1075
                        EC_ERR("Failed to allocate memory for varsize_t!\n");
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1076
                        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1077
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1078
                    var->field = field;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1079
                    var->size = size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1080
                    list_add_tail(&var->list, &slave->varsize_fields);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1081
                    return 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1082
                }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1083
            }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1084
        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1085
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1086
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1087
    EC_ERR("Slave %i (\"%s %s\") has no field \"%s\"[%i]!\n",
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1088
           slave->ring_position, slave->type->vendor_name,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1089
           slave->type->product_name, field_name, field_index);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1090
    return -1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1091
#endif
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1092
}
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1093
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1094
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1095
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1096
/**< \cond */
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
  1097
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1098
EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1099
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1100
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1101
EXPORT_SYMBOL(ecrt_slave_pdo_size);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1102
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1103
/**< \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1104
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1105
/*****************************************************************************/