etherlabmaster: master/slave.c@482bbaf3e76b (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	3	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	31	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	32	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36	EtherCAT slave methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	41	#include <linux/module.h>
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	42	#include <linux/delay.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	43
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	44	#include "globals.h"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	45	#include "datagram.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	46	#include "master.h"
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	47	#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	48
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	49	#include "slave.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	50
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	51	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	52
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	53	extern const ec_code_msg_t al_status_messages[];
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	54
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	55	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	56
404 7f7f429e13c7 Removed clear functions from headers of kobject-classes. Florian Pose <fp@igh-essen.com> parents: 403 diff changeset	57	void ec_slave_clear(struct kobject *);
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	58	void ec_slave_sdos_clear(struct kobject *);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	59	ssize_t ec_show_slave_attribute(struct kobject , struct attribute , char *);
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	60	ssize_t ec_store_slave_attribute(struct kobject , struct attribute ,
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	61	const char *, size_t);
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	62	char ec_slave_sii_string(ec_slave_t , unsigned int);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	63
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	64	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	65
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	66	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	67
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	68	EC_SYSFS_READ_ATTR(info);
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	69	EC_SYSFS_READ_WRITE_ATTR(state);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	70	EC_SYSFS_READ_WRITE_ATTR(sii);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	71	EC_SYSFS_READ_WRITE_ATTR(alias);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	72
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	73	static struct attribute *def_attrs[] = {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	74	&attr_info,
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	75	&attr_state,
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	76	&attr_sii,
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	77	&attr_alias,
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	78	NULL,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	79	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	80
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	81	static struct sysfs_ops sysfs_ops = {
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	82	.show = ec_show_slave_attribute,
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	83	.store = ec_store_slave_attribute
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	84	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	85
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	86	static struct kobj_type ktype_ec_slave = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	87	.release = ec_slave_clear,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	88	.sysfs_ops = &sysfs_ops,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	89	.default_attrs = def_attrs
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	90	};
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	91
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	92	static struct kobj_type ktype_ec_slave_sdos = {
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	93	.release = ec_slave_sdos_clear
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	94	};
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	95
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	96	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	97
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	98	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	99
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	100	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	101	Slave constructor.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	102	\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	103	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	104
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	105	int ec_slave_init(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	106	ec_master_t master, /< EtherCAT master /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	107	uint16_t ring_position, /*< ring position /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	108	uint16_t station_address /*< station address to configure /
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	109	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	110	{
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	111	unsigned int i;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	112
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	113	slave->ring_position = ring_position;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	114	slave->station_address = station_address;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	115
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	116	slave->master = master;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	117
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	118	slave->config = NULL;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	119	slave->requested_state = EC_SLAVE_STATE_PREOP;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	120	slave->current_state = EC_SLAVE_STATE_UNKNOWN;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	121	slave->error_flag = 0;
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	122	slave->force_config = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	123
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	124	slave->base_type = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	125	slave->base_revision = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	126	slave->base_build = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	127	slave->base_fmmu_count = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	128
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	129	slave->sii_data = NULL;
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	130	slave->sii_size = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	131
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	132	slave->sii.alias = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	133	slave->sii.vendor_id = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	134	slave->sii.product_code = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	135	slave->sii.revision_number = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	136	slave->sii.serial_number = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	137	slave->sii.rx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	138	slave->sii.rx_mailbox_size = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	139	slave->sii.tx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	140	slave->sii.tx_mailbox_size = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	141	slave->sii.mailbox_protocols = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	142
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	143	slave->sii.strings = NULL;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	144	slave->sii.string_count = 0;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	145
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	146	slave->sii.has_general = 0;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	147	slave->sii.group = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	148	slave->sii.image = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	149	slave->sii.order = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	150	slave->sii.name = NULL;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	151	memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836 860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	152	memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	153	slave->sii.current_on_ebus = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	154
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	155	slave->sii.syncs = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	156	slave->sii.sync_count = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	157
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	158	INIT_LIST_HEAD(&slave->sii.pdos);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	159
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	160	INIT_LIST_HEAD(&slave->sdo_dictionary);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	161
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	162	slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	163	slave->jiffies_preop = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	164
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	165	for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	166	slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	167	slave->dl_loop[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	168	slave->dl_signal[i] = 0;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	169	slave->sii.physical_layer[i] = 0xFF;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	170	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	171
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	172	// init kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	173	memset(&slave->kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	174	kobject_init(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	175	slave->kobj.ktype = &ktype_ec_slave;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	176	slave->kobj.parent = &master->kobj;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	177	if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	178	EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	179	goto out_slave_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	180	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	181	if (kobject_add(&slave->kobj)) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	182	EC_ERR("Failed to add slave's kobject.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	183	goto out_slave_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	184	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	185
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	186	// init Sdo kobject and add it to the hierarchy
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	187	memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	188	kobject_init(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	189	slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	190	slave->sdo_kobj.parent = &slave->kobj;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	191	if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	192	EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	193	goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	194	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	195	if (kobject_add(&slave->sdo_kobj)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	196	EC_ERR("Failed to add Sdos kobject.\n");
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	197	goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	198	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	199
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	200	return 0;
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	201
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	202	out_sdo_put:
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	203	kobject_put(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	204	kobject_del(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	205	out_slave_put:
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	206	kobject_put(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	207	return -1;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	208	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	209
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	210	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	211
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	212	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	213	Slave destructor.
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	214	Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	215	*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	216
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	217	void ec_slave_destroy(ec_slave_t slave /< EtherCAT slave /)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	218	{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	219	ec_sdo_t sdo, next_sdo;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	220
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	221	if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	222	ec_slave_config_detach(slave->config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	223
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	224	// free all Sdos
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	225	list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	226	list_del(&sdo->list);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	227	ec_sdo_destroy(sdo);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	228	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	229
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	230	// free Sdo kobject
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	231	kobject_del(&slave->sdo_kobj);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	232	kobject_put(&slave->sdo_kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	233
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	234	// destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	235	kobject_del(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	236	kobject_put(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	237	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	238
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	239	/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	240
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	241	/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	242	Clear and free slave.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	243	This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	244	once there are no more references to it.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	245	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	246
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	247	void ec_slave_clear(struct kobject kobj /< kobject of the slave /)
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	248	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	249	ec_slave_t *slave;
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	250	ec_pdo_t pdo, next_pdo;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	251	unsigned int i;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	252
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	253	slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	254
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	255	// free all strings
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	256	if (slave->sii.strings) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	257	for (i = 0; i < slave->sii.string_count; i++)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	258	kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	259	kfree(slave->sii.strings);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	260	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	261
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	262	// free all sync managers
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	263	ec_slave_clear_sync_managers(slave);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	264
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	265	// free all SII Pdos
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	266	list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	267	list_del(&pdo->list);
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	268	ec_pdo_clear(pdo);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	269	kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	270	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	271
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	272	if (slave->sii_data)
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	273	kfree(slave->sii_data);
418 7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 416 diff changeset	274
7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 416 diff changeset	275	kfree(slave);
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	276	}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	277
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	278	/*****************************************************************************/
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	279
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	280	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	281	* Sdo kobject clear method.
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	282	*/
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	283
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	284	void ec_slave_sdos_clear(struct kobject kobj /< kobject for Sdos /)
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	285	{
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	286	}
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	287
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	288	/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	289
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	290	/** Clear the sync manager array.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	291	*/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	292	void ec_slave_clear_sync_managers(ec_slave_t slave /< EtherCAT slave. /)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	293	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	294	unsigned int i;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	295
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	296	if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	297	for (i = 0; i < slave->sii.sync_count; i++) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	298	ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	299	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	300	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	301	slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	302	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	303	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	304
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	305	/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	306
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	307	/**
610 29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	308	* 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	309	*/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	310
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	311	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	312	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	313	)
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	314	{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	315	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	316	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	317	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	318	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	319	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	320	ec_state_string(new_state, cur_state);
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	321	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	322	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	323	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	324	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	325	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	326	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	327
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	328	/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	329
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	330	/**
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	331	* Request a slave state and resets the error flag.
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	332	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	333
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	334	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	335	ec_slave_state_t state /*< new state /
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	336	)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	337	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	338	slave->requested_state = state;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	339	slave->error_flag = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	340	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	341
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	342	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	343
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	344	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	345	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	346	\todo range checking
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	347	\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	348	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	349
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	350	int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	351	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	352	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	353	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	354	)
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	355	{
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	356	int i;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	357	size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	358	off_t offset;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	359
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	360	slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	361
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	362	if (!slave->sii.string_count)
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	363	return 0;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	364
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	365	if (!(slave->sii.strings =
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	366	kmalloc(sizeof(char ) slave->sii.string_count,
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	367	GFP_KERNEL))) {
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	368	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	369	goto out_zero;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	370	}
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	371
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	372	offset = 1;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	373	for (i = 0; i < slave->sii.string_count; i++) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	374	size = data[offset];
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	375	// allocate memory for string structure and data at a single blow
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	376	if (!(slave->sii.strings[i] =
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	377	kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	378	EC_ERR("Failed to allocate string memory.\n");
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	379	goto out_free;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	380	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	381	memcpy(slave->sii.strings[i], data + offset + 1, size);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	382	slave->sii.strings[i][size] = 0x00; // append binary zero
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	383	offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	384	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	385
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	386	return 0;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	387
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	388	out_free:
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	389	for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	390	kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	391	slave->sii.strings = NULL;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	392	out_zero:
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	393	slave->sii.string_count = 0;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	394	return -1;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	395	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	396
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	397	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	398
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	399	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	400	Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	401	\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	402	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	403
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	404	int ec_slave_fetch_sii_general(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	405	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	406	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	407	size_t data_size /*< size in bytes /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	408	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	409	{
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	410	unsigned int i;
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	411	uint8_t flags;
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	412
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	413	if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	414	EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	415	data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	416	return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	417	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	418
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	419	slave->sii.group = ec_slave_sii_string(slave, data[0]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	420	slave->sii.image = ec_slave_sii_string(slave, data[1]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	421	slave->sii.order = ec_slave_sii_string(slave, data[2]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	422	slave->sii.name = ec_slave_sii_string(slave, data[3]);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	423
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	424	for (i = 0; i < 4; i++)
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	425	slave->sii.physical_layer[i] =
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	426	(data[4] & (0x03 << (i * 2))) >> (i * 2);
499 fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	427
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	428	// read CoE details
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	429	flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	430	slave->sii.coe_details.enable_sdo = (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	431	slave->sii.coe_details.enable_sdo_info = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	432	slave->sii.coe_details.enable_pdo_assign = (flags >> 2) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	433	slave->sii.coe_details.enable_pdo_configuration = (flags >> 3) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	434	slave->sii.coe_details.enable_upload_at_startup = (flags >> 4) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	435	slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	436
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	437	// read general flags
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	438	flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	439	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	440	slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	441
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	442	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	443	slave->sii.has_general = 1;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	444	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	445	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	446
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	447	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	448
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	449	/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	450	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	451	* Appends the sync managers described in the category to the existing ones.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	452	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	453	* \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	454	*/
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	455	int ec_slave_fetch_sii_syncs(
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	456	ec_slave_t slave, /< EtherCAT slave. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	457	const uint8_t data, /< Category data. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	458	size_t data_size /*< Number of bytes. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	459	)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	460	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	461	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	462	ec_sync_t *sync;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	463	size_t memsize;
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	464	ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	465	uint8_t index;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	466
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	467	// 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	468	if (data_size % 8) {
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	469	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	470	data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	471	return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	472	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	473
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	474	count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	475
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	476	if (count) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	477	total_count = count + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	478	memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	479	if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	480	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	481	memsize);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	482	return -1;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	483	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	484
873 ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	485	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	486	ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	487
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	488	// initialize new sync managers
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	489	for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	490	index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	491	sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	492
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	493	ec_sync_init(sync, slave, index);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	494	sync->physical_start_address = EC_READ_U16(data);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	495	sync->length = EC_READ_U16(data + 2);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	496	sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	497	sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	498	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	499
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	500	if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	501	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	502	slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	503	slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	504	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	505
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	506	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	507	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	508
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	509	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	510
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	511	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	512	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	513	\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	514	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	515
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	516	int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	517	ec_slave_t slave, /< EtherCAT slave /
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	518	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	519	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	520	ec_direction_t dir /*< Pdo direction. /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	521	)
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	522	{
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	523	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	524	ec_pdo_entry_t *entry;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	525	unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	526
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	527	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	528	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	529	EC_ERR("Failed to allocate Pdo memory.\n");
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	530	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	531	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	532
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	533	ec_pdo_init(pdo);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	534	pdo->dir = dir;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	535	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	536	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	537	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	538	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	539	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	540	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	541	kfree(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	542	return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	543	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	544	list_add_tail(&pdo->list, &slave->sii.pdos);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	545
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	546	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	547	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	548
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	549	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	550	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	551	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	552	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	553	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	554
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	555	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	556	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	557	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	558	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	559	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	560	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	561	kfree(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	562	return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	563	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	564	entry->bit_length = EC_READ_U8(data + 5);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	565	list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	566
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	567	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	568	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	569	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	570
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	571	// 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	572	if (pdo->sync_index >= 0) {
762 15214036c72a Store PDO mapping source in sync manager. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	573	ec_sync_t *sync;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	574
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	575	if (pdo->sync_index >= slave->sii.sync_count) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	576	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	577	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	578	return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	579	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	580	sync = &slave->sii.syncs[pdo->sync_index];
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	581
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	582	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	583	return -1;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	584
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	585	sync->assign_source = EC_ASSIGN_SII;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	586	}
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	587	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	588
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	589	return 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	590	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	591
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	592	/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	593
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	594	/**
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	595	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	596	\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	597	*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	598
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	599	char *ec_slave_sii_string(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	600	ec_slave_t slave, /< EtherCAT slave /
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	601	unsigned int index /*< string index /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	602	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	603	{
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	604	if (!index--)
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	605	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	606
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	607	if (index >= slave->sii.string_count) {
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	608	if (slave->master->debug_level)
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	609	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	610	index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	611	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	612	}
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	613
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	614	return slave->sii.strings[index];
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	615	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	616
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	617	/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	618
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	619	/** Outputs all information about a certain slave.
630 1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	620	*/
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	621	ssize_t ec_slave_info(const ec_slave_t slave, /< EtherCAT slave /
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	622	char buffer /< Output buffer /
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	623	)
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	624	{
871 5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	625	const ec_sync_t *sync;
5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	626	const ec_pdo_t *pdo;
5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	627	const ec_pdo_entry_t *pdo_entry;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	628	int first, i;
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	629	char large_buffer, buf;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	630	unsigned int size;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	631
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	632	if (!(large_buffer = (char ) kmalloc(PAGE_SIZE 2, GFP_KERNEL))) {
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	633	return -ENOMEM;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	634	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	635
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	636	buf = large_buffer;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	637
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	638	buf += sprintf(buf, "Ring position: %u\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	639	slave->ring_position);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	640	buf += sprintf(buf, "State: ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	641	buf += ec_state_string(slave->current_state, buf);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	642	buf += sprintf(buf, " (");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	643	buf += ec_state_string(slave->requested_state, buf);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	644	buf += sprintf(buf, ")\n");
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	645	buf += sprintf(buf, "Flags: %s\n\n", slave->error_flag ? "ERROR" : "ok");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	646
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	647	buf += sprintf(buf, "Data link status:\n");
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	648	for (i = 0; i < 4; i++) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	649	buf += sprintf(buf, " Port %u: Phy %u (",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	650	i, slave->sii.physical_layer[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	651	switch (slave->sii.physical_layer[i]) {
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	652	case 0x00:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	653	buf += sprintf(buf, "EBUS");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	654	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	655	case 0x01:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	656	buf += sprintf(buf, "100BASE-TX");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	657	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	658	case 0x02:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	659	buf += sprintf(buf, "100BASE-FX");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	660	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	661	default:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	662	buf += sprintf(buf, "unknown");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	663	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	664	buf += sprintf(buf, "), Link %s, Loop %s, %s\n",
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	665	slave->dl_link[i] ? "up" : "down",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	666	slave->dl_loop[i] ? "closed" : "open",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	667	slave->dl_signal[i] ? "Signal detected" : "No signal");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	668	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	669	buf += sprintf(buf, "\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	670
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	671	if (slave->sii.alias)
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	672	buf += sprintf(buf, "Configured station alias:"
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	673	" 0x%04X (%u)\n\n", slave->sii.alias, slave->sii.alias);
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	674
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	675	buf += sprintf(buf, "Identity:\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	676	buf += sprintf(buf, " Vendor ID: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	677	slave->sii.vendor_id, slave->sii.vendor_id);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	678	buf += sprintf(buf, " Product code: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	679	slave->sii.product_code, slave->sii.product_code);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	680	buf += sprintf(buf, " Revision number: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	681	slave->sii.revision_number, slave->sii.revision_number);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	682	buf += sprintf(buf, " Serial number: 0x%08X (%u)\n\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	683	slave->sii.serial_number, slave->sii.serial_number);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	684
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	685	if (slave->sii.mailbox_protocols) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	686	buf += sprintf(buf, "Mailboxes:\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	687	buf += sprintf(buf, " RX: 0x%04X/%u, TX: 0x%04X/%u\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	688	slave->sii.rx_mailbox_offset, slave->sii.rx_mailbox_size,
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	689	slave->sii.tx_mailbox_offset, slave->sii.tx_mailbox_size);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	690	buf += sprintf(buf, " Supported protocols: ");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	691
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	692	first = 1;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	693	if (slave->sii.mailbox_protocols & EC_MBOX_AOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	694	buf += sprintf(buf, "AoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	695	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	696	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	697	if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	698	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	699	buf += sprintf(buf, "EoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	700	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	701	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	702	if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	703	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	704	buf += sprintf(buf, "CoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	705	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	706	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	707	if (slave->sii.mailbox_protocols & EC_MBOX_FOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	708	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	709	buf += sprintf(buf, "FoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	710	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	711	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	712	if (slave->sii.mailbox_protocols & EC_MBOX_SOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	713	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	714	buf += sprintf(buf, "SoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	715	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	716	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	717	if (slave->sii.mailbox_protocols & EC_MBOX_VOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	718	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	719	buf += sprintf(buf, "VoE");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	720	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	721	buf += sprintf(buf, "\n\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	722	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	723
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	724	if (slave->sii.has_general) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	725	buf += sprintf(buf, "General:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	726
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	727	if (slave->sii.group)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	728	buf += sprintf(buf, " Group: %s\n", slave->sii.group);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	729	if (slave->sii.image)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	730	buf += sprintf(buf, " Image: %s\n", slave->sii.image);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	731	if (slave->sii.order)
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	732	buf += sprintf(buf, " Order number: %s\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	733	slave->sii.order);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	734	if (slave->sii.name)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	735	buf += sprintf(buf, " Name: %s\n", slave->sii.name);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	736	if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	737	buf += sprintf(buf, " CoE details:\n");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	738	buf += sprintf(buf, " Enable Sdo: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	739	slave->sii.coe_details.enable_sdo ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	740	buf += sprintf(buf, " Enable Sdo Info: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	741	slave->sii.coe_details.enable_sdo_info ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	742	buf += sprintf(buf, " Enable Pdo Assign: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	743	slave->sii.coe_details.enable_pdo_assign ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	744	buf += sprintf(buf, " Enable Pdo Configuration: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	745	slave->sii.coe_details.enable_pdo_configuration ?
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	746	"yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	747	buf += sprintf(buf, " Enable Upload at startup: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	748	slave->sii.coe_details.enable_upload_at_startup ?
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	749	"yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	750	buf += sprintf(buf, " Enable Sdo complete access: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	751	slave->sii.coe_details.enable_sdo_complete_access
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	752	? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	753	}
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	754
836 860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	755	buf += sprintf(buf, " Flags:\n");
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	756	buf += sprintf(buf, " Enable SafeOp: %s\n",
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	757	slave->sii.general_flags.enable_safeop ? "yes" : "no");
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	758	buf += sprintf(buf, " Enable notLRW: %s\n",
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	759	slave->sii.general_flags.enable_not_lrw ? "yes" : "no");
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	760	buf += sprintf(buf, " Current consumption: %i mA\n\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	761	slave->sii.current_on_ebus);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	762	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	763
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	764	if (slave->sii.sync_count) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	765	buf += sprintf(buf, "Sync managers / assigned Pdos:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	766
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	767	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	768	sync = &slave->sii.syncs[i];
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	769	buf += sprintf(buf,
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	770	" SM%u: addr 0x%04X, size %u, control 0x%02X, %s\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	771	sync->index, sync->physical_start_address,
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	772	sync->length, sync->control_register,
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	773	sync->enable ? "enable" : "disable");
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	774
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	775	if (list_empty(&sync->pdos.list)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	776	buf += sprintf(buf, " No Pdos assigned.\n");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	777	} else if (sync->assign_source != EC_ASSIGN_NONE) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	778	buf += sprintf(buf, " Pdo assignment from ");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	779	switch (sync->assign_source) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	780	case EC_ASSIGN_SII:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	781	buf += sprintf(buf, "SII");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	782	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	783	case EC_ASSIGN_COE:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	784	buf += sprintf(buf, "CoE");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	785	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	786	case EC_ASSIGN_CUSTOM:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	787	buf += sprintf(buf, "application");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	788	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	789	default:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	790	buf += sprintf(buf, "?");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	791	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	792	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	793	buf += sprintf(buf, ".\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	794	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	795
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	796	list_for_each_entry(pdo, &sync->pdos.list, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	797	buf += sprintf(buf, " %s 0x%04X \"%s\"\n",
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	798	pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	799	pdo->index, pdo->name ? pdo->name : "???");
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	800
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	801	list_for_each_entry(pdo_entry, &pdo->entries, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	802	buf += sprintf(buf,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	803	" 0x%04X:%02X, %u bit, \"%s\"\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	804	pdo_entry->index, pdo_entry->subindex,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	805	pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	806	pdo_entry->name ? pdo_entry->name : "???");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	807	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	808	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	809	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	810	buf += sprintf(buf, "\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	811	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	812
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	813	// type-cast to avoid warnings on some compilers
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	814	if (!list_empty((struct list_head *) &slave->sii.pdos)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	815	buf += sprintf(buf, "Available Pdos from SII:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	816
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	817	list_for_each_entry(pdo, &slave->sii.pdos, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	818	buf += sprintf(buf, " %s 0x%04X \"%s\"",
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	819	pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	820	pdo->index, pdo->name ? pdo->name : "???");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	821	if (pdo->sync_index >= 0)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	822	buf += sprintf(buf, ", default assignment: SM%u.\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	823	pdo->sync_index);
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	824	else
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	825	buf += sprintf(buf, ", no default assignment.\n");
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	826
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	827	list_for_each_entry(pdo_entry, &pdo->entries, list) {
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	828	buf += sprintf(buf, " 0x%04X:%02X, %u bit, \"%s\"\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	829	pdo_entry->index, pdo_entry->subindex,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	830	pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	831	pdo_entry->name ? pdo_entry->name : "???");
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	832	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	833	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	834	buf += sprintf(buf, "\n");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	835	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	836
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	837	size = buf - large_buffer;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	838	if (size >= PAGE_SIZE) {
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	839	const char trunc[] = "\n---TRUNCATED---\n";
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	840	unsigned int len = strlen(trunc);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	841	memcpy(large_buffer + PAGE_SIZE - len, trunc, len);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	842	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	843
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	844	size = min(size, (unsigned int) PAGE_SIZE);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	845	memcpy(buffer, large_buffer, size);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	846	kfree(large_buffer);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	847	return size;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	848	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	849
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	850	/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	851
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	852	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	853	* Schedules an SII write request.
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	854	* \return 0 case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	855	*/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	856
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	857	int ec_slave_schedule_sii_writing(
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	858	ec_sii_write_request_t request /< SII write request /
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	859	)
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	860	{
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	861	ec_master_t *master = request->slave->master;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	862
649 a4d3fffdaed7 Renamed names of enum type ec_request_state_t. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	863	request->state = EC_REQUEST_QUEUED;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	864
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	865	// schedule SII write request.
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	866	down(&master->sii_sem);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	867	list_add_tail(&request->list, &master->sii_requests);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	868	up(&master->sii_sem);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	869
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	870	// wait for processing through FSM
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	871	if (wait_event_interruptible(master->sii_queue,
649 a4d3fffdaed7 Renamed names of enum type ec_request_state_t. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	872	request->state != EC_REQUEST_QUEUED)) {
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	873	// interrupted by signal
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	874	down(&master->sii_sem);
649 a4d3fffdaed7 Renamed names of enum type ec_request_state_t. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	875	if (request->state == EC_REQUEST_QUEUED) {
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	876	list_del(&request->list);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	877	up(&master->sii_sem);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	878	return -EINTR;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	879	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	880	// request already processing: interrupt not possible.
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	881	up(&master->sii_sem);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	882	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	883
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	884	// wait until master FSM has finished processing
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	885	wait_event(master->sii_queue,
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 856 diff changeset	886	request->state != EC_REQUEST_BUSY);
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 856 diff changeset	887
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 856 diff changeset	888	return request->state == EC_REQUEST_SUCCESS ? 0 : -EIO;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	889	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	890
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	891	/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	892
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	893	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	894	* Calculates the SII checksum field.
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	895	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	896	* The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	897	* initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	898	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	899	* The below code was originally generated with PYCRC
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	900	* http://www.tty1.net/pycrc
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	901	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	902	* ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	903	* --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	904	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	905	* \return CRC8
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	906	*/
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	907
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	908	uint8_t ec_slave_sii_crc(
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	909	const uint8_t data, /< pointer to data /
8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	910	size_t length /*< number of bytes in \a data /
8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	911	)
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	912	{
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	913	unsigned int i;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	914	uint8_t bit, byte, crc = 0x48;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	915
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	916	while (length--) {
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	917	byte = *data++;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	918	for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	919	bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	920	crc = (crc << 1) \| ((byte >> (7 - i)) & 0x01);
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	921	if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	922	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	923	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	924
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	925	for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	926	bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	927	crc <<= 1;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	928	if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	929	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	930
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	931	return crc;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	932	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	933
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	934	/*****************************************************************************/
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	935
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	936	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	937	* Writes complete SII contents to a slave.
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	938	* \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	939	*/
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	940
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	941	ssize_t ec_slave_write_sii(ec_slave_t slave, /< EtherCAT slave /
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	942	const uint8_t data, /< new SII data /
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	943	size_t size /*< size of data in bytes /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	944	)
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	945	{
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	946	ec_sii_write_request_t request;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	947	const uint16_t *cat_header;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	948	uint16_t cat_type, cat_size;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	949	int ret;
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	950	uint8_t crc;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	951
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	952	if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	953	EC_ERR("Writing SIIs only allowed in idle mode!\n");
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	954	return -EBUSY;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	955	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	956
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	957	if (size % 2) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	958	EC_ERR("SII data size is odd (%u bytes)! SII data must be"
856 7b8be5c61d92 Improved error messages on EEPROM writing. Florian Pose <fp@igh-essen.com> parents: 839 diff changeset	959	" word-aligned. Dropping.\n", size);
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	960	return -EINVAL;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	961	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	962
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	963	// 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	964	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	965	request.slave = slave;
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	966	request.data = data;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	967	request.word_offset = 0;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	968	request.word_size = size / 2;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	969
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	970	if (request.word_size < 0x0041) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	971	EC_ERR("SII data too short (%u words)! Mimimum is"
856 7b8be5c61d92 Improved error messages on EEPROM writing. Florian Pose <fp@igh-essen.com> parents: 839 diff changeset	972	" 40 fixed words + 1 delimiter. Dropping.\n",
7b8be5c61d92 Improved error messages on EEPROM writing. Florian Pose <fp@igh-essen.com> parents: 839 diff changeset	973	request.word_size);
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	974	return -EINVAL;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	975	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	976
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	977	// calculate checksum
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	978	crc = ec_slave_sii_crc(data, 14); // CRC over words 0 to 6
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	979	if (crc != data[14]) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	980	EC_WARN("SII CRC incorrect. Must be 0x%02x.\n", crc);
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	981	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	982
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	983	cat_header = (const uint16_t *) request.data
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	984	+ EC_FIRST_SII_CATEGORY_OFFSET;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	985	cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	986	while (cat_type != 0xFFFF) { // cycle through categories
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	987	if (cat_header + 1 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	988	(const uint16_t *) request.data + request.word_size) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	989	EC_ERR("SII data corrupted! Dropping.\n");
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	990	return -EINVAL;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	991	}
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	992	cat_size = EC_READ_U16(cat_header + 1);
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	993	if (cat_header + cat_size + 2 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	994	(const uint16_t *) request.data + request.word_size) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	995	EC_ERR("SII data corrupted! Dropping.\n");
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	996	return -EINVAL;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	997	}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	998	cat_header += cat_size + 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	999	cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	1000	}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	1001
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1002	// SII data ok. schedule writing.
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1003	if ((ret = ec_slave_schedule_sii_writing(&request)))
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1004	return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1005
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1006	return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1007	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1008
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1009	/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1010
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1011	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1012	* Writes the Secondary slave address (alias) to the slave's SII.
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1013	* \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1014	*/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1015
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1016	ssize_t ec_slave_write_alias(ec_slave_t slave, /< EtherCAT slave /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1017	const uint8_t data, /< alias string /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1018	size_t size /*< size of data in bytes /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1019	)
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1020	{
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1021	ec_sii_write_request_t request;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1022	char *remainder;
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1023	uint16_t alias;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1024	int ret;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1025	uint8_t sii_data[16], crc;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1026
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1027	if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1028	EC_ERR("Writing to SII is only allowed in idle mode!\n");
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1029	return -EBUSY;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1030	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1031
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1032	alias = simple_strtoul(data, &remainder, 0);
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1033	if (remainder == (char ) data \|\| (remainder && *remainder != '\n')) {
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1034	EC_ERR("Invalid alias value! Dropping.\n");
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1035	return -EINVAL;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1036	}
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1037
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1038	if (!slave->sii_data \|\| slave->sii_size < 16) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1039	EC_ERR("Failed to read SII contents from slave %u.\n",
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1040	slave->ring_position);
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1041	return -EINVAL;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1042	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1043
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1044	// copy first 7 words of recent SII contents
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1045	memcpy(sii_data, slave->sii_data, 14);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1046
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1047	// write new alias address in word 4
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1048	EC_WRITE_U16(sii_data + 8, alias);
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1049
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1050	// calculate new checksum over words 0 to 6
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1051	crc = ec_slave_sii_crc(sii_data, 14);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1052	EC_WRITE_U16(sii_data + 14, crc);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1053
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1054	// init SII write request
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1055	INIT_LIST_HEAD(&request.list);
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1056	request.slave = slave;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1057	request.data = sii_data;
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1058	request.word_offset = 0x0000;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1059	request.word_size = 8;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1060
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1061	if ((ret = ec_slave_schedule_sii_writing(&request)))
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1062	return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1063
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1064	slave->sii.alias = alias; // FIXME: do this in state machine
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1065
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1066	return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1067	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1068
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1069	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1070
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1071	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1072	Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1073	\return number of bytes to read
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1074	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1075
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1076	ssize_t ec_show_slave_attribute(struct kobject kobj, /< slave's kobject /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1077	struct attribute attr, /< attribute /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1078	char buffer /< memory to store data /
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1079	)
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1080	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1081	ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1082
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	1083	if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	1084	return ec_slave_info(slave, buffer);
185 af570302dcee Slave (special) type in SysFS Florian Pose <fp@igh-essen.com> parents: 184 diff changeset	1085	}
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1086	else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1087	switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1088	case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1089	return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1090	case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1091	return sprintf(buffer, "PREOP\n");
813 bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	1092	case EC_SLAVE_STATE_SAFEOP:
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	1093	return sprintf(buffer, "SAFEOP\n");
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1094	case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1095	return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1096	default:
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1097	return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1098	}
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1099	}
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1100	else if (attr == &attr_sii) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1101	if (slave->sii_data) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1102	if (slave->sii_size > PAGE_SIZE) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1103	EC_ERR("SII contents of slave %u exceed 1 page (%u/%u).\n",
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1104	slave->ring_position, slave->sii_size,
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1105	(int) PAGE_SIZE);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1106	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1107	else {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1108	memcpy(buffer, slave->sii_data, slave->sii_size);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1109	return slave->sii_size;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1110	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1111	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1112	}
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1113	else if (attr == &attr_alias) {
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1114	return sprintf(buffer, "%u\n", slave->sii.alias);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1115	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1116
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1117	return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1118	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1119
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1120	/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1121
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1122	/**
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1123	Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1124	\return number of bytes processed, or negative error code
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1125	*/
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1126
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1127	ssize_t ec_store_slave_attribute(struct kobject kobj, /< slave's kobject /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1128	struct attribute attr, /< attribute /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1129	const char buffer, /< memory with data /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1130	size_t size /*< size of data to store /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1131	)
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1132	{
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1133	ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1134
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1135	if (attr == &attr_state) {
403 7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE Florian Pose <fp@igh-essen.com> parents: 400 diff changeset	1136	char state[EC_STATE_STRING_SIZE];
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1137	if (!strcmp(buffer, "INIT\n"))
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	1138	ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1139	else if (!strcmp(buffer, "PREOP\n"))
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	1140	ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
813 bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	1141	else if (!strcmp(buffer, "SAFEOP\n"))
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	1142	ec_slave_request_state(slave, EC_SLAVE_STATE_SAFEOP);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1143	else if (!strcmp(buffer, "OP\n"))
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	1144	ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1145	else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1146	EC_ERR("Invalid slave state \"%s\"!\n", buffer);
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1147	return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1148	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1149
333 2b15335f9f35 Minor fix: Output of SysFS accepting new slave state. Florian Pose <fp@igh-essen.com> parents: 329 diff changeset	1150	ec_state_string(slave->requested_state, state);
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	1151	EC_INFO("Accepted new state %s for slave %u.\n",
333 2b15335f9f35 Minor fix: Output of SysFS accepting new slave state. Florian Pose <fp@igh-essen.com> parents: 329 diff changeset	1152	state, slave->ring_position);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1153	return size;
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1154	}
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1155	else if (attr == &attr_sii) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1156	return ec_slave_write_sii(slave, buffer, size);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1157	}
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1158	else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1159	return ec_slave_write_alias(slave, buffer, size);
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1160	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1161
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1162	return -EIO;
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1163	}
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1164
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 269 diff changeset	1165	/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 269 diff changeset	1166
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	1167	/** Get the sync manager for either Rx- or Tx-Pdos.
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	1168	*
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	1169	* \todo This seems not to be correct in every case...
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	1170	* \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	1171	*/
626 a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t. Florian Pose <fp@igh-essen.com> parents: 625 diff changeset	1172	ec_sync_t *ec_slave_get_pdo_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	1173	ec_slave_t slave, /< EtherCAT slave. /
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	1174	ec_direction_t dir /*< Input or output. /
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1175	)
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1176	{
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1177	unsigned int sync_index;
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1178
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1179	if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1180	EC_ERR("Invalid direction!\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1181	return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1182	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1183
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	1184	if (slave->sii.sync_count != 1) {
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	1185	sync_index = (unsigned int) dir;
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	1186	if (slave->sii.mailbox_protocols) sync_index += 2;
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	1187
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	1188	if (sync_index >= slave->sii.sync_count)
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	1189	return NULL;
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	1190	} else { // sync_count == 1
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	1191	// A single sync manager may be used for inputs OR outputs!
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	1192	if (ec_sync_direction(&slave->sii.syncs[0]) != dir)
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	1193	return NULL;
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	1194	sync_index = 0;
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	1195	}
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1196
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1197	return &slave->sii.syncs[sync_index];
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1198	}
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1199
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1200	/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1201
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1202	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1203	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	1204	*/
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1205
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1206	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	1207	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	1208	unsigned int entry_count /*< total number of
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1209	entries */
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1210	)
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1211	{
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1212	unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1213	ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1214	ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1215
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1216	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	1217	sdos++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1218	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	1219	entries++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1220	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1221	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1222
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1223	*sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1224	*entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1225	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1226
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1227	/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1228
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1229	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1230	* Get an Sdo from the dictionary.
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1231	* \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	1232	*/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1233
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1234	ec_sdo_t *ec_slave_get_sdo(
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1235	ec_slave_t slave /< EtherCAT slave /,
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1236	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	1237	)
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1238	{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1239	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	1240
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1241	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1242	if (sdo->index != index) continue;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1243	return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1244	}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1245
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1246	return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1247	}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1248
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	1249	/*****************************************************************************/
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1250
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1251	/** Finds a mapped Pdo.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1252	* \returns The desired Pdo object, or NULL.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1253	*/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1254	const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1255	const ec_slave_t slave, /< Slave. /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1256	uint16_t index /*< Pdo index to find. /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1257	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1258	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1259	unsigned int i;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1260	const ec_sync_t *sync;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1261	const ec_pdo_t *pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1262
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1263	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	1264	sync = &slave->sii.syncs[i];
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1265
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	1266	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	1267	continue;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1268
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1269	return pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1270	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1271
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1272	return NULL;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1273	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1274
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1275	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 02 Jun 2008 08:54:51 +0000
changeset 931	482bbaf3e76b
parent 928	7fbc0b943c65
child 960	36e460ffbb5e
permissions	-rw-r--r--