master/slave.c
author Florian Pose <fp@igh-essen.com>
Mon, 30 Jun 2008 11:28:32 +0000
changeset 1070 348249d1f95c
parent 1055 2be8918682fa
child 1079 ef1266652c4d
permissions -rw-r--r--
Xml: Output sync manager index with Pdo.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "slave_config.h"
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#include "slave.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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char *ec_slave_sii_string(ec_slave_t *, unsigned int);
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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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void ec_slave_init(
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        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->master = master;
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    slave->ring_position = ring_position;
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    slave->station_address = station_address;
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    slave->config = NULL;
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    slave->requested_state = EC_SLAVE_STATE_PREOP;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->error_flag = 0;
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    slave->force_config = 0;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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    slave->base_fmmu_count = 0;
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    for (i = 0; i < EC_MAX_PORTS; i++) {
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        slave->ports[i].dl_link = 0;
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        slave->ports[i].dl_loop = 0;
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        slave->ports[i].dl_signal = 0;
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        slave->sii.physical_layer[i] = 0xFF;
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    }
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    slave->sii_words = NULL;
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    slave->sii_nwords = 0;
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    slave->sii.alias = 0;
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    slave->sii.vendor_id = 0;
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    slave->sii.product_code = 0;
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    slave->sii.revision_number = 0;
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    slave->sii.serial_number = 0;
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    slave->sii.rx_mailbox_offset = 0;
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    slave->sii.rx_mailbox_size = 0;
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    slave->sii.tx_mailbox_offset = 0;
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    slave->sii.tx_mailbox_size = 0;
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    slave->sii.mailbox_protocols = 0;
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    slave->sii.strings = NULL;
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    slave->sii.string_count = 0;
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    slave->sii.has_general = 0;
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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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    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
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    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
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    slave->sii.current_on_ebus = 0;
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    slave->sii.syncs = NULL;
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    slave->sii.sync_count = 0;
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    INIT_LIST_HEAD(&slave->sii.pdos);
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    INIT_LIST_HEAD(&slave->sdo_dictionary);
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diff changeset
   130
    slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
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diff changeset
   131
    slave->jiffies_preop = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   132
}
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diff changeset
   133
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   134
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   135
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 55
diff changeset
   136
/**
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   137
   Slave destructor.
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   138
   Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   139
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   140
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   141
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   142
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   143
    ec_sdo_t *sdo, *next_sdo;
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   144
    unsigned int i;
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diff changeset
   145
    ec_pdo_t *pdo, *next_pdo;
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   146
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   147
    if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   148
        ec_slave_config_detach(slave->config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   149
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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   150
    // free all Sdos
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   151
    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   152
        list_del(&sdo->list);
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   153
        ec_sdo_clear(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   154
        kfree(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   155
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   156
624
11332ad89f47 Simplified handling of EEPROM strings.
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diff changeset
   157
    // free all strings
834
0791aac03180 Separated SII data from slave.
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diff changeset
   158
    if (slave->sii.strings) {
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   159
        for (i = 0; i < slave->sii.string_count; i++)
0791aac03180 Separated SII data from slave.
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diff changeset
   160
            kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave.
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diff changeset
   161
        kfree(slave->sii.strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   162
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   163
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   164
    // free all sync managers
870
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   165
    ec_slave_clear_sync_managers(slave);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   166
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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diff changeset
   167
    // free all SII Pdos
834
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   168
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   169
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   170
        ec_pdo_clear(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
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diff changeset
   171
        kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   172
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   173
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
   174
    if (slave->sii_words)
167ae3e76cc7 Moved sii to words.
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diff changeset
   175
        kfree(slave->sii_words);
482
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   176
}
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   177
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   178
/*****************************************************************************/
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parents: 467
diff changeset
   179
870
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   180
/** Clear the sync manager array. 
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   181
 */
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   182
void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   183
{
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   184
    unsigned int i;
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   185
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   186
    if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   187
        for (i = 0; i < slave->sii.sync_count; i++) {
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   188
            ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   189
        }
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   190
        kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   191
        slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   192
    }
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   193
}
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   194
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   195
/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   196
482
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   197
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   198
 * Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   199
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   200
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   201
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   202
        ec_slave_state_t new_state /**< new application state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   203
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   204
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   205
    if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   206
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   207
            char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   208
                cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   209
            ec_state_string(slave->current_state, old_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   210
            ec_state_string(new_state, cur_state);
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   211
            EC_DBG("Slave %u: %s -> %s.\n",
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   212
                   slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   213
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   214
        slave->current_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   215
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   216
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   217
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   218
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   219
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   220
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   221
 * Request a slave state and resets the error flag.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   222
 */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   223
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   224
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   225
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   226
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   227
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   228
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   229
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   230
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   231
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   232
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   233
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   234
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   235
   Fetches data from a STRING category.
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   236
   \todo range checking
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   237
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   238
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   239
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   240
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   241
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   242
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   243
        size_t data_size /**< number of bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   244
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   245
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   246
    int i;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   247
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   248
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   249
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   250
    slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   251
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   252
    if (!slave->sii.string_count)
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   253
        return 0;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   254
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   255
    if (!(slave->sii.strings =
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   256
                kmalloc(sizeof(char *) * slave->sii.string_count,
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   257
                    GFP_KERNEL))) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   258
        EC_ERR("Failed to allocate string array memory.\n");
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   259
        goto out_zero;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   260
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   261
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   262
    offset = 1;
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   263
    for (i = 0; i < slave->sii.string_count; i++) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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   264
        size = data[offset];
195
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   265
        // allocate memory for string structure and data at a single blow
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   266
        if (!(slave->sii.strings[i] =
624
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diff changeset
   267
                    kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
118
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diff changeset
   268
            EC_ERR("Failed to allocate string memory.\n");
624
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   269
            goto out_free;
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diff changeset
   270
        }
834
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   271
        memcpy(slave->sii.strings[i], data + offset + 1, size);
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   272
        slave->sii.strings[i][size] = 0x00; // append binary zero
118
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   273
        offset += 1 + size;
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   274
    }
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   276
    return 0;
624
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   277
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   278
out_free:
834
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   279
    for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);
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   280
    kfree(slave->sii.strings);
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   281
    slave->sii.strings = NULL;
624
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   282
out_zero:
834
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   283
    slave->sii.string_count = 0;
624
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   284
    return -1;
118
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   285
}
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   286
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   287
/*****************************************************************************/
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   288
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   289
/**
195
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   290
   Fetches data from a GENERAL category.
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   291
   \return 0 in case of success, else < 0
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   292
*/
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diff changeset
   293
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03d2fe3d4a93 Improved checking of EEPROM data while reading.
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   294
int ec_slave_fetch_sii_general(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
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   295
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
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   296
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
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   297
        size_t data_size /**< size in bytes */
620
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   298
        )
123
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   299
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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   300
    unsigned int i;
876
8acdecb5a75e Fixed general flags on big-endian archs.
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   301
    uint8_t flags;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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diff changeset
   302
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
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   303
    if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
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diff changeset
   304
        EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
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diff changeset
   305
                data_size, slave->ring_position);
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   306
        return -1;
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diff changeset
   307
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
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diff changeset
   308
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   309
    slave->sii.group = ec_slave_sii_string(slave, data[0]);
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diff changeset
   310
    slave->sii.image = ec_slave_sii_string(slave, data[1]);
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diff changeset
   311
    slave->sii.order = ec_slave_sii_string(slave, data[2]);
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diff changeset
   312
    slave->sii.name = ec_slave_sii_string(slave, data[3]);
123
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parents: 122
diff changeset
   313
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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diff changeset
   314
    for (i = 0; i < 4; i++)
834
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diff changeset
   315
        slave->sii.physical_layer[i] =
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   316
            (data[4] & (0x03 << (i * 2))) >> (i * 2);
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
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parents: 484
diff changeset
   317
876
8acdecb5a75e Fixed general flags on big-endian archs.
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diff changeset
   318
    // read CoE details
8acdecb5a75e Fixed general flags on big-endian archs.
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diff changeset
   319
    flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs.
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diff changeset
   320
    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
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parents: 873
diff changeset
   321
    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
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parents: 873
diff changeset
   322
    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
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parents: 873
diff changeset
   323
    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
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parents: 873
diff changeset
   324
    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
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parents: 873
diff changeset
   325
    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
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diff changeset
   326
8acdecb5a75e Fixed general flags on big-endian archs.
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diff changeset
   327
    // read general flags
8acdecb5a75e Fixed general flags on big-endian archs.
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diff changeset
   328
    flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs.
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parents: 873
diff changeset
   329
    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   330
    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
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parents: 873
diff changeset
   331
834
0791aac03180 Separated SII data from slave.
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diff changeset
   332
    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   333
    slave->sii.has_general = 1;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   334
    return 0;
118
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parents: 114
diff changeset
   335
}
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diff changeset
   336
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diff changeset
   337
/*****************************************************************************/
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diff changeset
   338
870
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   339
/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   340
 *
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   341
 * Appends the sync managers described in the category to the existing ones.
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   342
 *
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   343
 * \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   344
 */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
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parents: 619
diff changeset
   345
int ec_slave_fetch_sii_syncs(
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   346
        ec_slave_t *slave, /**< EtherCAT slave. */
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   347
        const uint8_t *data, /**< Category data. */
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   348
        size_t data_size /**< Number of bytes. */
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   349
        )
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   350
{
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   351
    unsigned int i, count, total_count;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   352
    ec_sync_t *sync;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   353
    size_t memsize;
870
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   354
    ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   355
    uint8_t index;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   356
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   357
    // one sync manager struct is 4 words long
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   358
    if (data_size % 8) {
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   359
        EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   360
                data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   361
        return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   362
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
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parents: 741
diff changeset
   363
870
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   364
    count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   365
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   366
    if (count) {
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   367
        total_count = count + slave->sii.sync_count;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   368
        if (total_count > EC_MAX_SYNCS) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   369
            EC_ERR("Exceeded maximum number of sync managers!\n");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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parents: 1000
diff changeset
   370
            return -1;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   371
        }
870
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   372
        memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   373
        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   374
            EC_ERR("Failed to allocate %u bytes for sync managers.\n",
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   375
                    memsize);
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   376
            return -1;
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   377
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   378
873
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   379
        for (i = 0; i < slave->sii.sync_count; i++)
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   380
            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
870
fbd5924690ee Allow multiple sync manager categories.
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parents: 865
diff changeset
   381
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   382
        // initialize new sync managers
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   383
        for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   384
            index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   385
            sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   386
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   387
            ec_sync_init(sync, slave);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   388
            sync->physical_start_address = EC_READ_U16(data);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   389
            sync->default_length = EC_READ_U16(data + 2);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   390
            sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   391
            sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   392
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   393
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   394
        if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   395
            kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   396
        slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   397
        slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   398
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   399
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   400
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   401
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   402
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   403
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   404
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   405
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   406
   Fetches data from a [RT]XPdo category.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   407
   \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
   408
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   409
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   410
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   411
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   412
        const uint8_t *data, /**< category data */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   413
        size_t data_size, /**< number of bytes */
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   414
        ec_direction_t dir /**< Pdo direction. */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   415
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   416
{
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   417
    ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   418
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   419
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   420
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   421
    while (data_size >= 8) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   422
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   423
            EC_ERR("Failed to allocate Pdo memory.\n");
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   424
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   425
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   426
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   427
        ec_pdo_init(pdo);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   428
        pdo->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   429
        entry_count = EC_READ_U8(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   430
        pdo->sync_index = EC_READ_U8(data + 3);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   431
        if (ec_pdo_set_name(pdo,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   432
                ec_slave_sii_string(slave, EC_READ_U8(data + 5)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   433
            ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   434
            kfree(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   435
            return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   436
        }
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   437
        list_add_tail(&pdo->list, &slave->sii.pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   438
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   439
        data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   440
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   441
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   442
        for (i = 0; i < entry_count; i++) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   443
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   444
                EC_ERR("Failed to allocate Pdo entry memory.\n");
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   445
                return -1;
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
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   448
            ec_pdo_entry_init(entry);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   449
            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
   450
            entry->subindex = EC_READ_U8(data + 2);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   451
            if (ec_pdo_entry_set_name(entry,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   452
                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   453
                ec_pdo_entry_clear(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   454
                kfree(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   455
                return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   456
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   457
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   458
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   459
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   460
            data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   461
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   462
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   463
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   464
        // if sync manager index is positive, the Pdo is mapped by default
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   465
        if (pdo->sync_index >= 0) {
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   466
            ec_sync_t *sync;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   467
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   468
            if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   469
                EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   470
                        pdo->sync_index, pdo->index, slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   471
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   472
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   473
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 876
diff changeset
   474
            if (ec_pdo_list_add_pdo_copy(&sync->pdos, pdo))
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   475
                return -1;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   476
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 876
diff changeset
   477
            sync->assign_source = EC_ASSIGN_SII;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   478
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   479
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   480
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   481
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   482
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   483
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   484
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   485
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   486
/**
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   487
   Searches the string list for an index.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   488
   \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
   489
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   490
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   491
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   492
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   493
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   494
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   495
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   496
    if (!index--) 
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   497
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   498
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   499
    if (index >= slave->sii.string_count) {
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   500
        if (slave->master->debug_level)
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   501
            EC_WARN("String %u not found in slave %u.\n",
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   502
                    index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   503
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   504
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   505
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   506
    return slave->sii.strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   507
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   508
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   509
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   510
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
   511
/**
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   512
 * Writes SII contents to a slave.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   513
 * \return Zero on success, otherwise error code.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   514
 */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   515
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   516
int ec_slave_write_sii(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   517
        ec_slave_t *slave, /**< EtherCAT slave */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   518
        uint16_t offset, /**< SII word offset. */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   519
        unsigned int nwords, /**< Number of words. */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   520
        const uint16_t *words /**< New SII data. */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   521
        )
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   522
{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   523
    ec_master_t *master = slave->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 871
diff changeset
   524
    ec_sii_write_request_t request;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   525
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 871
diff changeset
   526
    // init SII write request
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   527
    INIT_LIST_HEAD(&request.list);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   528
    request.slave = slave;
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   529
    request.words = words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   530
    request.offset = offset;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   531
    request.nwords = nwords;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   532
    request.state = EC_REQUEST_QUEUED;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   533
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   534
    // schedule SII write request.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   535
    down(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   536
    list_add_tail(&request.list, &master->sii_requests);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   537
    up(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   538
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   539
    // wait for processing through FSM
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   540
    if (wait_event_interruptible(master->sii_queue,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   541
                request.state != EC_REQUEST_QUEUED)) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   542
        // interrupted by signal
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   543
        down(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   544
        if (request.state == EC_REQUEST_QUEUED) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   545
            list_del(&request.list);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   546
            up(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   547
            return -EINTR;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   548
        }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   549
        // request already processing: interrupt not possible.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   550
        up(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   551
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   552
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   553
    // wait until master FSM has finished processing
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   554
    wait_event(master->sii_queue,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   555
            request.state != EC_REQUEST_BUSY);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   556
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   557
    if (request.state == EC_REQUEST_SUCCESS) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   558
        if (offset <= 4 && offset + nwords > 4) { // alias was written
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   559
            slave->sii.alias = EC_READ_U16(words + 4);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   560
        }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   561
        return 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   562
    } else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   563
        return -EIO;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   564
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   565
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   566
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   567
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   568
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   569
/** Get the sync manager given an index.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   570
 *
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   571
 * \return pointer to sync manager, or NULL.
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   572
 */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   573
ec_sync_t *ec_slave_get_sync(
912
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   574
        ec_slave_t *slave, /**< EtherCAT slave. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   575
        uint8_t sync_index /**< Sync manager index. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   576
        )
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   577
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   578
    if (sync_index < slave->sii.sync_count) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   579
        return &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   580
    } else {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   581
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   582
    }
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   583
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   584
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   585
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   586
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   587
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   588
   Counts the total number of Sdos and entries in the dictionary.
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   589
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   590
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   591
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   592
                            unsigned int *sdo_count, /**< number of Sdos */
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   593
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   594
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   595
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   596
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   597
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   598
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   599
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   600
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   601
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   602
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   603
        list_for_each_entry(entry, &sdo->entries, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   604
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   605
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   606
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   607
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   608
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   609
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   610
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   611
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   612
/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   613
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   614
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   615
 * Get an Sdo from the dictionary.
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   616
 * \returns The desired Sdo, or NULL.
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   617
 */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   618
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   619
ec_sdo_t *ec_slave_get_sdo(
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   620
        ec_slave_t *slave, /**< EtherCAT slave */
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   621
        uint16_t index /**< Sdo index */
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   622
        )
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   623
{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   624
    ec_sdo_t *sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   625
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   626
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   627
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   628
            continue;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   629
        return sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   630
    }
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   631
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   632
    return NULL;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   633
}
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   634
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   635
/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   636
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   637
/**
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   638
 * Get an Sdo from the dictionary.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   639
 *
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   640
 * const version.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   641
 *
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   642
 * \returns The desired Sdo, or NULL.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   643
 */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   644
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   645
const ec_sdo_t *ec_slave_get_sdo_const(
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   646
        const ec_slave_t *slave, /**< EtherCAT slave */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   647
        uint16_t index /**< Sdo index */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   648
        )
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   649
{
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   650
    const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   651
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   652
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   653
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   654
            continue;
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   655
        return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   656
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   657
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   658
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   659
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   660
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   661
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   662
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   663
/** Get an Sdo from the dictionary, given its position in the list.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   664
 * \returns The desired Sdo, or NULL.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   665
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   666
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   667
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   668
        const ec_slave_t *slave, /**< EtherCAT slave. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   669
        uint16_t sdo_position /**< Sdo list position. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   670
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   671
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   672
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   673
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   674
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   675
        if (sdo_position--)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   676
            continue;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   677
        return sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   678
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   679
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   680
    return NULL;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   681
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   682
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   683
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   684
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   685
/** Get the number of Sdos in the dictionary.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   686
 * \returns Sdo count.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   687
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   688
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   689
uint16_t ec_slave_sdo_count(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   690
        const ec_slave_t *slave /**< EtherCAT slave. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   691
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   692
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   693
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   694
    uint16_t count = 0;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   695
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   696
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   697
        count++;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   698
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   699
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   700
    return count;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   701
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   702
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   703
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   704
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   705
/** Finds a mapped Pdo.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   706
 * \returns The desired Pdo object, or NULL.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   707
 */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   708
const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   709
        const ec_slave_t *slave, /**< Slave. */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   710
        uint16_t index /**< Pdo index to find. */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   711
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   712
{
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   713
    unsigned int i;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   714
    const ec_sync_t *sync;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   715
    const ec_pdo_t *pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   716
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   717
    for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   718
        sync = &slave->sii.syncs[i];
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   719
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 876
diff changeset
   720
        if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   721
            continue;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   722
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   723
        return pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   724
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   725
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   726
    return NULL;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   727
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   728
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   729
/*****************************************************************************/