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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

    15

 *  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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 *

    19

 *  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.

    37

*/

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    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

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    44

#include "globals.h"

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#include "slave.h"

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#include "datagram.h"

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#include "master.h"

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    49

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

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

void ec_slave_clear(struct kobject *);

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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);

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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

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                                 const char *, size_t);

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    60

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

    61

    62

/** \cond */

    63

    64

EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_WRITE_ATTR(state);

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EC_SYSFS_READ_WRITE_ATTR(eeprom);

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    68

static struct attribute *def_attrs[] = {

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    &attr_info,

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    &attr_state,

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    &attr_eeprom,

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    NULL,

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};

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    75

static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

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};

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    80

static struct kobj_type ktype_ec_slave = {

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    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

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};

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    86

static struct kobj_type ktype_ec_slave_sdos = {};

    87

    88

/** \endcond */

    89

    90

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

    91

    92

/**

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   Slave constructor.

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   \return 0 in case of success, else < 0

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*/

    96

    97

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

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

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                  uint16_t ring_position, /**< ring position */

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                  uint16_t station_address /**< station address to configure */

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                  )

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{

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    unsigned int i;

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    slave->ring_position = ring_position;

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    slave->station_address = station_address;

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   108

    // init kobject and add it to the hierarchy

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    memset(&slave->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&slave->kobj);

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    slave->kobj.ktype = &ktype_ec_slave;

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    slave->kobj.parent = &master->kobj;

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    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

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        EC_ERR("Failed to set kobject name.\n");

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        kobject_put(&slave->kobj);

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        return -1;

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    }

   118

   119

    // init SDO kobject and add it to the hierarchy

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    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&slave->sdo_kobj);

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    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

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    slave->sdo_kobj.parent = &slave->kobj;

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    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {

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        EC_ERR("Failed to set kobject name.\n");

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        kobject_put(&slave->sdo_kobj);

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        kobject_put(&slave->kobj);

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        return -1;

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    }

   130

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    slave->master = master;

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   133

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->configured = 0;

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    slave->error_flag = 0;

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    slave->online = 1;

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    slave->fmmu_count = 0;

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    slave->coupler_index = 0;

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    slave->coupler_subindex = 0xFFFF;

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    slave->base_type = 0;

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    slave->base_revision = 0;

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    slave->base_build = 0;

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    slave->base_fmmu_count = 0;

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    slave->base_sync_count = 0;

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    slave->eeprom_data = NULL;

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    slave->eeprom_size = 0;

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    slave->new_eeprom_data = NULL;

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    slave->new_eeprom_size = 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_group = NULL;

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    slave->sii_image = NULL;

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    slave->sii_order = NULL;

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    slave->sii_name = NULL;

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    INIT_LIST_HEAD(&slave->sii_strings);

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    INIT_LIST_HEAD(&slave->sii_syncs);

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    INIT_LIST_HEAD(&slave->sii_pdos);

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    INIT_LIST_HEAD(&slave->sdo_dictionary);

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    INIT_LIST_HEAD(&slave->sdo_confs);

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    slave->sdo_dictionary_fetched = 0;

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    slave->jiffies_preop = 0;

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   178

    for (i = 0; i < 4; i++) {

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        slave->dl_link[i] = 0;

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        slave->dl_loop[i] = 0;

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        slave->dl_signal[i] = 0;

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        slave->sii_physical_layer[i] = 0xFF;

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    }

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    return 0;

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}

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   188

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

   189

   190

/**

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   Slave destructor.

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   Clears and frees a slave object.

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*/

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   195

void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)

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{

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    ec_sdo_t *sdo, *next_sdo;

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    // free all SDOs

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    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {

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        list_del(&sdo->list);

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        ec_sdo_destroy(sdo);

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    }

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    // free SDO kobject

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    if (slave->sdo_dictionary_fetched) kobject_del(&slave->sdo_kobj);

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    kobject_put(&slave->sdo_kobj);

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   209

    // destroy self

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    kobject_del(&slave->kobj);

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    kobject_put(&slave->kobj);

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}

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

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   216

/**

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   Clear and free slave.

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   This method is called by the kobject,

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   once there are no more references to it.

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*/

   221

   222

void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

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{

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    ec_slave_t *slave;

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    ec_sii_string_t *string, *next_str;

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    ec_sii_sync_t *sync, *next_sync;

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    ec_sii_pdo_t *pdo, *next_pdo;

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    ec_sii_pdo_entry_t *entry, *next_ent;

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    ec_sdo_data_t *sdodata, *next_sdodata;

   230

   231

    slave = container_of(kobj, ec_slave_t, kobj);

   232

   233

    // free all string objects

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    list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {

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        list_del(&string->list);

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        kfree(string);

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    }

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   239

    // free all sync managers

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    list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {

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        list_del(&sync->list);

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        kfree(sync);

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    }

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    // free all PDOs

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    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {

   247

        list_del(&pdo->list);

   248

        if (pdo->name) kfree(pdo->name);

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        // free all PDO entries

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        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

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            list_del(&entry->list);

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            if (entry->name) kfree(entry->name);

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            kfree(entry);

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        }

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        kfree(pdo);

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    }

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   260

    if (slave->sii_group) kfree(slave->sii_group);

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    if (slave->sii_image) kfree(slave->sii_image);

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    if (slave->sii_order) kfree(slave->sii_order);

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    if (slave->sii_name) kfree(slave->sii_name);

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    // free all SDO configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

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        list_del(&sdodata->list);

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        kfree(sdodata->data);

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        kfree(sdodata);

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    }

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   272

    if (slave->eeprom_data) kfree(slave->eeprom_data);

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    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);

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    kfree(slave);

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}

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

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   280

/**

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   Reset slave from operation mode.

   282

*/

   283

   284

void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)

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{

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    slave->fmmu_count = 0;

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}

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   299

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

   300

   301

/**

   302

 */

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   304

void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */

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                            ec_slave_state_t state /**< new state */

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                            )

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{

   308

    slave->requested_state = state;

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    slave->error_flag = 0;

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}

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   312

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

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   314

/**

   315

   Fetches data from a STRING category.

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   \return 0 in case of success, else < 0

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*/

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int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */

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                           const uint8_t *data /**< category data */

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                           )

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{

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    unsigned int string_count, i;

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    size_t size;

   325

    off_t offset;

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    ec_sii_string_t *string;

   327

   328

    string_count = data[0];

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    offset = 1;

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    for (i = 0; i < string_count; i++) {

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        size = data[offset];

   332

        // allocate memory for string structure and data at a single blow

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        if (!(string = (ec_sii_string_t *)

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              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {

   335

            EC_ERR("Failed to allocate string memory.\n");

   336

            return -1;

   337

        }

   338

        string->size = size;

   339

        // string memory appended to string structure

   340

        string->data = (char *) string + sizeof(ec_sii_string_t);

   341

        memcpy(string->data, data + offset + 1, size);

   342

        string->data[size] = 0x00;

   343

        list_add_tail(&string->list, &slave->sii_strings);

   344

        offset += 1 + size;

   345

    }

   346

   347

    return 0;

   348

}

   349

   350

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

   351

   352

/**

   353

   Fetches data from a GENERAL category.

   354

   \return 0 in case of success, else < 0

   355

*/

   356

   357

void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */

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                            const uint8_t *data /**< category data */

   359

                            )

   360

{

   361

    unsigned int i;

   362

   363

    ec_slave_locate_string(slave, data[0], &slave->sii_group);

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    ec_slave_locate_string(slave, data[1], &slave->sii_image);

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    ec_slave_locate_string(slave, data[2], &slave->sii_order);

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    ec_slave_locate_string(slave, data[3], &slave->sii_name);

   367

   368

    for (i = 0; i < 4; i++)

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        slave->sii_physical_layer[i] =

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            (data[4] & (0x03 << (i * 2))) >> (i * 2);

   371

}

   372

   373

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

   374

   375

/**

   376

   Fetches data from a SYNC MANAGER category.

   377

   \return 0 in case of success, else < 0

   378

*/

   379

   380

int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */

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                        const uint8_t *data, /**< category data */

   382

                        size_t word_count /**< number of words */

   383

                        )

   384

{

   385

    unsigned int sync_count, i;

   386

    ec_sii_sync_t *sync;

   387

   388

    sync_count = word_count / 4; // sync manager struct is 4 words long

   389

   390

    for (i = 0; i < sync_count; i++, data += 8) {

   391

        if (!(sync = (ec_sii_sync_t *)

   392

              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {

   393

            EC_ERR("Failed to allocate Sync-Manager memory.\n");

   394

            return -1;

   395

        }

   396

   397

        sync->index = i;

   398

        sync->physical_start_address = EC_READ_U16(data);

   399

        sync->length                 = EC_READ_U16(data + 2);

   400

        sync->control_register       = EC_READ_U8 (data + 4);

   401

        sync->enable                 = EC_READ_U8 (data + 6);

   402

   403

        sync->est_length = 0;

   404

   405

        list_add_tail(&sync->list, &slave->sii_syncs);

   406

    }

   407

   408

    return 0;

   409

}

   410

   411

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

   412

   413

/**

   414

   Fetches data from a [RT]XPDO category.

   415

   \return 0 in case of success, else < 0

   416

*/

   417

   418

int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */

   419

                       const uint8_t *data, /**< category data */

   420

                       size_t word_count, /**< number of words */

   421

                       ec_sii_pdo_type_t pdo_type /**< PDO type */

   422

                       )

   423

{

   424

    ec_sii_pdo_t *pdo;

   425

    ec_sii_pdo_entry_t *entry;

   426

    unsigned int entry_count, i;

   427

   428

    while (word_count >= 4) {

   429

        if (!(pdo = (ec_sii_pdo_t *)

   430

              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {

   431

            EC_ERR("Failed to allocate PDO memory.\n");

   432

            return -1;

   433

        }

   434

   435

        INIT_LIST_HEAD(&pdo->entries);

   436

        pdo->type = pdo_type;

   437

   438

        pdo->index = EC_READ_U16(data);

   439

        entry_count = EC_READ_U8(data + 2);

   440

        pdo->sync_index = EC_READ_U8(data + 3);

   441

        pdo->name = NULL;

   442

        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);

   443

   444

        list_add_tail(&pdo->list, &slave->sii_pdos);

   445

   446

        word_count -= 4;

   447

        data += 8;

   448

   449

        for (i = 0; i < entry_count; i++) {

   450

            if (!(entry = (ec_sii_pdo_entry_t *)

   451

                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {

   452

                EC_ERR("Failed to allocate PDO entry memory.\n");

   453

                return -1;

   454

            }

   455

   456

            entry->index = EC_READ_U16(data);

   457

            entry->subindex = EC_READ_U8(data + 2);

   458

            entry->name = NULL;

   459

            ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);

   460

            entry->bit_length = EC_READ_U8(data + 5);

   461

   462

            list_add_tail(&entry->list, &pdo->entries);

   463

   464

            word_count -= 4;

   465

            data += 8;

   466

        }

   467

    }

   468

   469

    return 0;

   470

}

   471

   472

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

   473

   474

/**

   475

   Searches the string list for an index and allocates a new string.

   476

   \return 0 in case of success, else < 0

   477

   \todo documentation

   478

*/

   479

   480

int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */

   481

                           unsigned int index, /**< string index */

   482

                           char **ptr /**< Address of the string pointer */

   483

                           )

   484

{

   485

    ec_sii_string_t *string;

   486

    char *err_string;

   487