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/******************************************************************************

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 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  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 along

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 *  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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 *

    22

 *  ---

    23

 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *****************************************************************************/

    29

    30

/**

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   \file

    32

   EtherCAT slave configuration methods.

    33

*/

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    35

/*****************************************************************************/

    36

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#include <linux/slab.h>

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#include "globals.h"

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#include "master.h"

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#include "voe_handler.h"

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#include "slave_config.h"

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/*****************************************************************************/

    46

    47

/** Slave configuration constructor.

    48

 *

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 * See ecrt_master_slave_config() for the usage of the \a alias and \a

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 * position parameters.

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 */

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void ec_slave_config_init(

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        ec_slave_config_t *sc, /**< Slave configuration. */

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        ec_master_t *master, /**< EtherCAT master. */

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        uint16_t alias, /**< Slave alias. */

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        uint16_t position, /**< Slave position. */

    57

        uint32_t vendor_id, /**< Expected vendor ID. */

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        uint32_t product_code /**< Expected product code. */

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        )

    60

{

    61

    unsigned int i;

    62

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    sc->master = master;

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    sc->alias = alias;

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    sc->position = position;

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    sc->vendor_id = vendor_id;

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    sc->product_code = product_code;

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    sc->watchdog_divider = 0; // use default

    70

    sc->watchdog_intervals = 0; // use default

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    sc->slave = NULL;

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    74

    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)

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        ec_sync_config_init(&sc->sync_configs[i]);

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    77

    sc->used_fmmus = 0;

    78

    79

    sc->dc_assign_activate = 0x0000;

    80

    sc->dc_sync[0].cycle_time = 0x00000000;

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    sc->dc_sync[1].cycle_time = 0x00000000;

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    sc->dc_sync[0].shift_time = 0x00000000;

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    sc->dc_sync[1].shift_time = 0x00000000;

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    85

    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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}

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    90

/*****************************************************************************/

    91

    92

/** Slave configuration destructor.

    93

 *

    94

 * Clears and frees a slave configuration object.

    95

 */

    96

void ec_slave_config_clear(

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        ec_slave_config_t *sc /**< Slave configuration. */

    98

        )

    99

{

   100

    unsigned int i;

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    ec_sdo_request_t *req, *next_req;

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    ec_voe_handler_t *voe, *next_voe;

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   104

    ec_slave_config_detach(sc);

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   106

    // Free sync managers

   107

    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)

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        ec_sync_config_clear(&sc->sync_configs[i]);

   109

   110

    // free all SDO configurations

   111

    list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all SDO requests

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    list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {

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        list_del(&req->list);

   120

        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all VoE handlers

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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {

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        list_del(&voe->list);

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        ec_voe_handler_clear(voe);

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        kfree(voe);

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    }

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}

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   132

/*****************************************************************************/

   133

   134

/** Prepares an FMMU configuration.

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 *

   136

 * Configuration data for the FMMU is saved in the slave config structure and

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 * is written to the slave during the configuration. The FMMU configuration

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 * is done in a way, that the complete data range of the corresponding sync

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 * manager is covered. Seperate FMMUs are configured for each domain. If the

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 * FMMU configuration is already prepared, the function does nothing and

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 * returns with success.

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 *

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 * \retval >=0 Success, logical offset byte address.

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 * \retval  <0 Error code.

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 */

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int ec_slave_config_prepare_fmmu(

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        ec_slave_config_t *sc, /**< Slave configuration. */

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        ec_domain_t *domain, /**< Domain. */

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        uint8_t sync_index, /**< Sync manager index. */

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        ec_direction_t dir /**< PDO direction. */

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        )

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{

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    unsigned int i;

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    ec_fmmu_config_t *fmmu;

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    // FMMU configuration already prepared?

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    for (i = 0; i < sc->used_fmmus; i++) {

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        fmmu = &sc->fmmu_configs[i];

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        if (fmmu->domain == domain && fmmu->sync_index == sync_index)

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            return fmmu->logical_start_address;

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    }

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    if (sc->used_fmmus == EC_MAX_FMMUS) {

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        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",

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                sc->alias, sc->position);

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        return -EOVERFLOW;

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    }

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    fmmu = &sc->fmmu_configs[sc->used_fmmus++];

   170

   171

    down(&sc->master->master_sem);

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    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);

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    up(&sc->master->master_sem);

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    return fmmu->logical_start_address;

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}

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/*****************************************************************************/

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   180

/** Attaches the configuration to the addressed slave object.

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 *

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 * \retval  0 Success.

   183

 * \retval <0 Error code.

   184

 */

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int ec_slave_config_attach(

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        ec_slave_config_t *sc /**< Slave configuration. */

   187

        )

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{

   189

    ec_slave_t *slave;

   190

   191

    if (sc->slave)

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        return 0; // already attached

   193

   194

    if (!(slave = ec_master_find_slave(

   195

                    sc->master, sc->alias, sc->position))) {

   196

        if (sc->master->debug_level)

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            EC_DBG("Failed to find slave for configuration %u:%u.\n",

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                    sc->alias, sc->position);

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        return -ENOENT;

   200

    }

   201

   202

    if (slave->config) {

   203

        if (sc->master->debug_level)

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            EC_DBG("Failed to attach slave configuration %u:%u. Slave %u"

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                    " already has a configuration!\n", sc->alias,

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                    sc->position, slave->ring_position);

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        return -EEXIST;

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    }

   209

   210

    if (slave->sii.vendor_id != sc->vendor_id

   211

            || slave->sii.product_code != sc->product_code) {

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        if (sc->master->debug_level)

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            EC_DBG("Slave %u has an invalid type (0x%08X/0x%08X) for"

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                    " configuration %u:%u (0x%08X/0x%08X).\n",

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                    slave->ring_position, slave->sii.vendor_id,

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                    slave->sii.product_code, sc->alias, sc->position,

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                    sc->vendor_id, sc->product_code);

   218

        return -EINVAL;

   219

    }

   220

   221

    // attach slave

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    slave->config = sc;

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    sc->slave = slave;

   224

   225

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   226

   227

    if (sc->master->debug_level)

   228

        EC_DBG("Attached slave %u to config %u:%u.\n",

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                slave->ring_position, sc->alias, sc->position);

   230

   231

    return 0;

   232

}

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   234

/*****************************************************************************/

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   236

/** Detaches the configuration from a slave object.

   237

 */

   238

void ec_slave_config_detach(

   239

        ec_slave_config_t *sc /**< Slave configuration. */

   240

        )

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{

   242

    if (sc->slave) {

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        sc->slave->config = NULL;

   244

        sc->slave = NULL;

   245

    }

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}

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   248

/*****************************************************************************/

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   250

/** Loads the default PDO assignment from the slave object.

   251

 */

   252

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

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{

   254

    uint8_t sync_index;

   255

    ec_sync_config_t *sync_config;

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    const ec_sync_t *sync;

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   258

    if (!sc->slave)

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        return;

   260

   261

    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {

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        sync_config = &sc->sync_configs[sync_index];

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        if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {

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            sync_config->dir = ec_sync_default_direction(sync);

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            if (sync_config->dir == EC_DIR_INVALID)

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                EC_WARN("SM%u of slave %u has an invalid direction field!\n",

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                        sync_index, sc->slave->ring_position);

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            ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);

   269

        }

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    }

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}

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   273

/*****************************************************************************/

   274

   275

/** Loads the default mapping for a PDO from the slave object.

   276

 */

   277

void ec_slave_config_load_default_mapping(

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        const ec_slave_config_t *sc,

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        ec_pdo_t *pdo

   280

        )

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{

   282

    unsigned int i;

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    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

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   286

    if (!sc->slave)

   287

        return;

   288

   289

    if (sc->master->debug_level)

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        EC_DBG("Loading default mapping for PDO 0x%04X in config %u:%u.\n",

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                pdo->index, sc->alias, sc->position);

   292

   293

    // find PDO in any sync manager (it could be reassigned later)

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    for (i = 0; i < sc->slave->sii.sync_count; i++) {

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        sync = &sc->slave->sii.syncs[i];

   296

   297

        list_for_each_entry(default_pdo, &sync->pdos.list, list) {

   298

            if (default_pdo->index != pdo->index)

   299

                continue;

   300

   301

            if (default_pdo->name) {

   302

                if (sc->master->debug_level)

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                    EC_DBG("Found PDO name \"%s\".\n", default_pdo->name);

   304

   305

                // take PDO name from assigned one

   306

                ec_pdo_set_name(pdo, default_pdo->name);

   307

            }

   308

   309

            // copy entries (= default PDO mapping)

   310

            if (ec_pdo_copy_entries(pdo, default_pdo))

   311

                return;

   312

   313

            if (sc->master->debug_level) {

   314

                const ec_pdo_entry_t *entry;

   315

                list_for_each_entry(entry, &pdo->entries, list) {

   316

                    EC_DBG("Entry 0x%04X:%02X.\n",

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                            entry->index, entry->subindex);

   318

                }

   319

            }

   320

   321

            return;

   322

        }

   323

    }

   324

   325

    if (sc->master->debug_level)

   326

        EC_DBG("No default mapping found.\n");

   327

}

   328

   329

/*****************************************************************************/

   330

   331

/** Get the number of SDO configurations.

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 *

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 * \return Number of SDO configurations.

   334

 */

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unsigned int ec_slave_config_sdo_count(

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        const ec_slave_config_t *sc /**< Slave configuration. */

   337

        )

   338

{

   339

    const ec_sdo_request_t *req;

   340

    unsigned int count = 0;

   341

   342

    list_for_each_entry(req, &sc->sdo_configs, list) {

   343

        count++;

   344

    }

   345

   346

    return count;

   347

}

   348

   349

/*****************************************************************************/

   350

   351

/** Finds an SDO configuration via its position in the list.

   352

 *

   353

 * Const version.

   354

 */

   355

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   356

        const ec_slave_config_t *sc, /**< Slave configuration. */

   357

        unsigned int pos /**< Position in the list. */

   358

        )

   359

{

   360

    const ec_sdo_request_t *req;

   361

   362

    list_for_each_entry(req, &sc->sdo_configs, list) {

   363

        if (pos--)

   364

            continue;

   365

        return req;

   366

    }

   367

   368

    return NULL;

   369

}

   370

   371

/*****************************************************************************/

   372

   373

/** Finds a VoE handler via its position in the list.

   374

 */

   375

ec_sdo_request_t *ec_slave_config_find_sdo_request(

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        ec_slave_config_t *sc, /**< Slave configuration. */

   377

        unsigned int pos /**< Position in the list. */

   378

        )

   379

{

   380

    ec_sdo_request_t *req;

   381

   382

    list_for_each_entry(req, &sc->sdo_requests, list) {

   383

        if (pos--)

   384

            continue;

   385

        return req;

   386

    }

   387

   388

    return NULL;

   389

}

   390

   391

/*****************************************************************************/

   392

   393

/** Finds a VoE handler via its position in the list.

   394

 */

   395

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   396

        ec_slave_config_t *sc, /**< Slave configuration. */

   397

        unsigned int pos /**< Position in the list. */

   398

        )

   399

{

   400

    ec_voe_handler_t *voe;

   401

   402

    list_for_each_entry(voe, &sc->voe_handlers, list) {

   403

        if (pos--)

   404

            continue;

   405

        return voe;

   406

    }

   407

   408

    return NULL;

   409

}

   410

   411

/******************************************************************************

   412

 *  Application interface

   413

 *****************************************************************************/

   414

   415

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   416

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   417

{

   418

    ec_sync_config_t *sync_config;

   419

   420

    if (sc->master->debug_level)

   421

        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%p, sync_index = %u, "

   422

                "dir = %i, watchdog_mode = %i)\n",

   423

                 sc, sync_index, dir, watchdog_mode);

   424

   425

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   426

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   427

        return -ENOENT;

   428

    }

   429

   430

    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {

   431

        EC_ERR("Invalid direction %u!\n", (u32) dir);

   432

        return -EINVAL;

   433

    }

   434

   435

    sync_config = &sc->sync_configs[sync_index];

   436

    sync_config->dir = dir;

   437

    sync_config->watchdog_mode = watchdog_mode;

   438

    return 0;

   439

}

   440

   441

/*****************************************************************************/

   442

   443

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   444

        uint16_t divider, uint16_t intervals)

   445

{

   446

    if (sc->master->debug_level)

   447

        EC_DBG("%s(sc = 0x%p, divider = %u, intervals = %u)\n",

   448

                __func__, sc, divider, intervals);

   449

   450

    sc->watchdog_divider = divider;

   451

    sc->watchdog_intervals = intervals;

   452

}

   453

   454

/*****************************************************************************/

   455

   456

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   457

        uint8_t sync_index, uint16_t pdo_index)

   458

{

   459

    ec_pdo_t *pdo;

   460

   461

    if (sc->master->debug_level)

   462

        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%p, sync_index = %u, "

   463

                "pdo_index = 0x%04X)\n", sc, sync_index, pdo_index);

   464

   465

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   466

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   467

        return -EINVAL;

   468

    }

   469

   470

    down(&sc->master->master_sem);

   471

   472

    pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);

   473

    if (IS_ERR(pdo)) {

   474

        up(&sc->master->master_sem);

   475

        return PTR_ERR(pdo);

   476

    }

   477

    pdo->sync_index = sync_index;

   478

   479

    ec_slave_config_load_default_mapping(sc, pdo);

   480

   481

    up(&sc->master->master_sem);

   482

    return 0;

   483

}

   484

   485

/*****************************************************************************/

   486

   487

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   488

        uint8_t sync_index)

   489

{

   490

    if (sc->master->debug_level)

   491

        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%p, "

   492

                "sync_index = %u)\n", sc, sync_index);

   493

   494

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {