etherlabmaster: master/canopen.c@5cff10efb927 (annotated)

64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	11	* as published by the Free Software Foundation; version 2 of the License.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	12	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* GNU General Public License for more details.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	* You should have received a copy of the GNU General Public License
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* along with the IgH EtherCAT Master; if not, write to the Free Software
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	23
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	24	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	25	\file
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	26	Canopen-over-EtherCAT functions.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	27	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	28
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	29	/*****************************************************************************/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	30
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <linux/delay.h>
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	32	#include <linux/slab.h>
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	33	#include <linux/module.h>
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include "master.h"
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	36	#include "mailbox.h"
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	40	void ec_canopen_abort_msg(uint32_t);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	41	int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	42	int ec_slave_fetch_sdo_entries(ec_slave_t , ec_sdo_t , uint8_t);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	43
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	44	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	45
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	46	const ec_code_msg_t sdo_abort_messages[];
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	47
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	48	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	49
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	50	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	51	Reads 32 bit of a CANopen SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	52	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	53	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	54
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	55	int ec_slave_sdo_read_exp(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	56	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	57	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	58	uint8_t target /< 4-byte memory /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	59	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	60	{
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	61	size_t rec_size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	62	uint8_t *data;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	63
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	64	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	65
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	66	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	67	EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	68	\| 0x2 << 5)); // initiate upload request
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	69	EC_WRITE_U16(data + 3, sdo_index);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	70	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	71
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	72	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	73
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	74	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	75	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	76	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	77	sdo_index, sdo_subindex, slave->ring_position);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	78	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	79	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	80	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	81
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	82	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	83	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // upload response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	84	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	85	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
159 acb250c92896 Fixed invalid format string. Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	86	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	87	EC_ERR("Invalid SDO upload response at slave %i!\n",
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	88	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	89	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	90	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	91	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	92
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	93	memcpy(target, data + 6, 4);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	94	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	95	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	96
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	97	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	98
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	99	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	100	Writes a CANopen SDO using expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	101	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	102	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	103
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	104	int ec_slave_sdo_write_exp(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	105	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	106	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	107	const uint8_t sdo_data, /< new value /
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	108	size_t size /*< Data size in bytes (1 - 4) /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	109	)
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	111	uint8_t *data;
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: 113 diff changeset	112	size_t rec_size;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	113
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	if (size == 0 \|\| size > 4) {
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	115	EC_ERR("Invalid data size!\n");
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	116	return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	117	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	118
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	119	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	120
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	121	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	122	EC_WRITE_U8 (data + 2, (0x1 // size specified
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	123	\| 0x1 << 1 // expedited transfer
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	124	\| (4 - size) << 2 // data set size
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	125	\| 0x1 << 5)); // initiate download request
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: 113 diff changeset	126	EC_WRITE_U16(data + 3, sdo_index);
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: 113 diff changeset	127	EC_WRITE_U8 (data + 5, sdo_subindex);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	128	memcpy(data + 6, sdo_data, size);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	129	if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	130
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	131	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
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: 113 diff changeset	132
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	133	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	134	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	135	EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	136	sdo_index, sdo_subindex, size, slave->ring_position);
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: 113 diff changeset	137	ec_canopen_abort_msg(EC_READ_U32(data + 6));
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: 113 diff changeset	138	return -1;
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: 113 diff changeset	139	}
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: 113 diff changeset	140
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	141	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	142	EC_READ_U8 (data + 2) >> 5 != 0x3 \|\| // download response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	143	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	144	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	145	EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	146	sdo_index, sdo_subindex, size);
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	147	EC_ERR("Invalid SDO download response at slave %i!\n",
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	148	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	149	ec_print_data(data, rec_size);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	152
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	return 0;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	157
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	158	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	159	Reads a CANopen SDO in normal mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	160	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	161	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	162	\todo Make size non-pointer.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	163	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	164
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	165	int ecrt_slave_sdo_read(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	166	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	167	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	168	uint8_t target, /< memory for value /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	169	size_t size /< target memory size /
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	170	)
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	171	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	172	uint8_t *data;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	173	size_t rec_size, data_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	174	uint32_t complete_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	175
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	176	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	177
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	178	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	179	EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	180	EC_WRITE_U16(data + 3, sdo_index);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	181	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	182
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	183	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	184
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	185	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	186	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	187	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	188	sdo_index, sdo_subindex, slave->ring_position);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	189	ec_canopen_abort_msg(EC_READ_U32(data + 6));
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	190	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	191	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	192
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	193	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	194	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // initiate upload response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	195	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	196	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	197	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	198	EC_ERR("Invalid SDO upload response at slave %i!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	199	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	200	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	201	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	202	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	203
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	204	if (rec_size < 10) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	205	EC_ERR("Received currupted SDO upload response!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	206	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	207	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	208	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	209
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	210	if ((complete_size = EC_READ_U32(data + 6)) > *size) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	211	EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	212	complete_size, *size);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	213	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	214	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	215
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	216	data_size = rec_size - 10;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	217
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	218	if (data_size != complete_size) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	219	EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	220	return -1;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	221	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	222
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	223	memcpy(target, data + 10, data_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	224	return 0;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	225	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	226
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	227	/*****************************************************************************/
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	228
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	229	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	230	Fetches the SDO dictionary of a slave.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	231	\return 0 in case of success, else < 0
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: 113 diff changeset	232	*/
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: 113 diff changeset	233
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	234	int ec_slave_fetch_sdo_list(ec_slave_t slave /< EtherCAT slave /)
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: 113 diff changeset	235	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	236	uint8_t *data;
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: 113 diff changeset	237	size_t rec_size;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	238	unsigned int i, sdo_count;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	239	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	240	uint16_t sdo_index;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	241
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	242	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	243
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	244	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	245	EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	246	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	247	EC_WRITE_U16(data + 4, 0x0000);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	248	EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	249
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	250	if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	251	EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	252	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	253	}
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: 113 diff changeset	254
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	255	do {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	256	if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	257	return -1;
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: 113 diff changeset	258
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	259	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	260	(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
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: 113 diff changeset	261	EC_ERR("SDO information error response at slave %i!\n",
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: 113 diff changeset	262	slave->ring_position);
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: 113 diff changeset	263	ec_canopen_abort_msg(EC_READ_U32(data + 6));
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: 113 diff changeset	264	return -1;
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: 113 diff changeset	265	}
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: 113 diff changeset	266
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	267	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
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: 113 diff changeset	268	(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
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: 113 diff changeset	269	EC_ERR("Invalid SDO list response at slave %i!\n",
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: 113 diff changeset	270	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	271	ec_print_data(data, rec_size);
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: 113 diff changeset	272	return -1;
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: 113 diff changeset	273	}
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: 113 diff changeset	274
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: 113 diff changeset	275	if (rec_size < 8) {
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: 113 diff changeset	276	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	277	ec_print_data(data, rec_size);
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: 113 diff changeset	278	return -1;
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: 113 diff changeset	279	}
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: 113 diff changeset	280
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	281	sdo_count = (rec_size - 8) / 2;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	282	for (i = 0; i < sdo_count; i++) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	283	sdo_index = EC_READ_U16(data + 8 + i * 2);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	284	if (!sdo_index) continue; // sometimes index is 0... ???
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	285
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	286	if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	287	EC_ERR("Failed to allocate memory for SDO!\n");
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	288	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	289	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	290
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	291	// Initialize SDO object
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	292	sdo->index = sdo_index;
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	293	//sdo->unkown = 0x0000;
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	294	sdo->object_code = 0x00;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	295	sdo->name = NULL;
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	296	INIT_LIST_HEAD(&sdo->entries);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	297
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	298	list_add_tail(&sdo->list, &slave->sdo_dictionary);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	299	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	300	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	301	while (EC_READ_U8(data + 2) & 0x80);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	302
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	303	// Fetch all SDO descriptions
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	304	if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	305
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	306	return 0;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	307	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	308
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	309	/*****************************************************************************/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	310
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	311	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	312	Fetches the SDO descriptions for the known SDOs.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	313	\return 0 in case of success, else < 0
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	314	*/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	315
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	316	int ec_slave_fetch_sdo_descriptions(ec_slave_t slave /< EtherCAT slave /)
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	317	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	318	uint8_t *data;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	319	size_t rec_size, name_size;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	320	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	321
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	322	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	323	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	324	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	325	EC_WRITE_U8 (data + 2, 0x03); // Get object description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	326	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	327	EC_WRITE_U16(data + 4, 0x0000);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	328	EC_WRITE_U16(data + 6, sdo->index); // SDO index
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	329
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	330	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	331
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	332	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	333	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	334	EC_ERR("SDO information error response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	335	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	336	sdo->index);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	337	ec_canopen_abort_msg(EC_READ_U32(data + 6));
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	338	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	339	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	340
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	341	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	342	(EC_READ_U8 (data + 2) & 0x7F) != 0x04 \|\| // Object desc. response
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	343	EC_READ_U16(data + 6) != sdo->index) { // SDO index
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	344	EC_ERR("Invalid object description response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	345	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	346	sdo->index);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	347	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	348	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	349	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	350
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	351	if (rec_size < 12) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	352	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	353	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	354	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	355	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	356
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	357	EC_DBG("object desc response:\n");
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	358	ec_print_data(data, rec_size);
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	359
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	360	//sdo->unknown = EC_READ_U16(data + 8);
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	361	sdo->object_code = EC_READ_U8(data + 11);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	362
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	363	name_size = rec_size - 12;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	364	if (name_size) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	365	if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	366	EC_ERR("Failed to allocate SDO name!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	367	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	368	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	369
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	370	memcpy(sdo->name, data + 12, name_size);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	371	sdo->name[name_size] = 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	372	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	373
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	374	if (EC_READ_U8(data + 2) & 0x80) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	375	EC_ERR("Fragment follows (not implemented)!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	376	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	377	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	378
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	379	// Fetch all entries (subindices)
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	380	if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	381	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	382	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	383
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	384	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	385	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	386
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	387	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	388
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	389	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	390	Fetches all entries (subindices) to an SDO.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	391	\return 0 in case of success, else < 0
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	392	*/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	393
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	394	int ec_slave_fetch_sdo_entries(ec_slave_t slave, /< EtherCAT slave /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	395	ec_sdo_t sdo, /< SDO /
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	396	uint8_t subindices /*< number of subindices /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	397	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	398	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	399	uint8_t *data;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	400	size_t rec_size, data_size;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	401	uint8_t i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	402	ec_sdo_entry_t *entry;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	403
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	404	for (i = 1; i <= subindices; i++) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	405	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	406	return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	407
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	408	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	409	EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	410	EC_WRITE_U8 (data + 3, 0x00);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	411	EC_WRITE_U16(data + 4, 0x0000);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	412	EC_WRITE_U16(data + 6, sdo->index); // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	413	EC_WRITE_U8 (data + 8, i); // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	414	EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	415
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	416	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	417
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	418	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	419	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	420	EC_ERR("SDO information error response at slave %i while"
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	421	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	422	sdo->index, i);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	423	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	424	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	425	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	426
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	427	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	428	(EC_READ_U8(data + 2) & 0x7F) != 0x06 \|\| // Entry desc. response
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	429	EC_READ_U16(data + 6) != sdo->index \|\| // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	430	EC_READ_U8(data + 8) != i) { // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	431	EC_ERR("Invalid entry description response at slave %i while"
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	432	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	433	sdo->index, i);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	434	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	435	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	436	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	437
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	438	if (rec_size < 16) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	439	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	440	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	441	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	442	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	443
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	444	if (!EC_READ_U16(data + 12)) // bit length = 0
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	445	continue;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	446
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	447	data_size = rec_size - 16;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	448
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	449	if (!(entry = (ec_sdo_entry_t *)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	450	kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	451	EC_ERR("Failed to allocate entry!\n");
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	452	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	453	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	454
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	455	entry->subindex = i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	456	entry->data_type = EC_READ_U16(data + 10);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	457	entry->bit_length = EC_READ_U16(data + 12);
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	458
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	459	// memory for name string appended to entry
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	460	entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	461
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	462	memcpy(entry->name, data + 16, data_size);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	463	entry->name[data_size] = 0;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	464
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	465	list_add_tail(&entry->list, &sdo->entries);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	466	}
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: 113 diff changeset	467
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: 113 diff changeset	468	return 0;
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: 113 diff changeset	469	}
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: 113 diff changeset	470
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: 113 diff changeset	471	/*****************************************************************************/
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: 113 diff changeset	472
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: 113 diff changeset	473	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	474	Outputs an SDO abort message.
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: 113 diff changeset	475	*/
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: 113 diff changeset	476
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: 113 diff changeset	477	void ec_canopen_abort_msg(uint32_t abort_code)
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: 113 diff changeset	478	{
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	479	const ec_code_msg_t *abort_msg;
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: 113 diff changeset	480
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: 113 diff changeset	481	for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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: 113 diff changeset	482	if (abort_msg->code == abort_code) {
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: 113 diff changeset	483	EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
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: 113 diff changeset	484	abort_msg->code, abort_msg->message);
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: 113 diff changeset	485	return;
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: 113 diff changeset	486	}
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: 113 diff changeset	487	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	488
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: 113 diff changeset	489	EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
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: 113 diff changeset	490	}
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: 113 diff changeset	491
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: 113 diff changeset	492	/*****************************************************************************/
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: 113 diff changeset	493
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	494	const ec_code_msg_t sdo_abort_messages[] = {
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	495	{0x05030000, "Toggle bit not changed"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	496	{0x05040000, "SDO protocol timeout"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	497	{0x05040001, "Client/Server command specifier not valid or unknown"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	498	{0x05040005, "Out of memory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	499	{0x06010000, "Unsupported access to an object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	500	{0x06010001, "Attempt to read a write-only object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	501	{0x06010002, "Attempt to write a read-only object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	502	{0x06020000, "This object does not exist in the object directory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	503	{0x06040041, "The object cannot be mapped into the PDO"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	504	{0x06040042, "The number and length of the objects to be mapped would"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	505	" exceed the PDO length"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	506	{0x06040043, "General parameter incompatibility reason"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	507	{0x06040047, "Gerneral internal incompatibility in device"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	508	{0x06060000, "Access failure due to a hardware error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	509	{0x06070010, "Data type does not match, length of service parameter does"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	510	" not match"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	511	{0x06070012, "Data type does not match, length of service parameter too"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	512	" high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	513	{0x06070013, "Data type does not match, length of service parameter too"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	514	" low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	515	{0x06090011, "Subindex does not exist"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	516	{0x06090030, "Value range of parameter exceeded"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	517	{0x06090031, "Value of parameter written too high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	518	{0x06090032, "Value of parameter written too low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	519	{0x06090036, "Maximum value is less than minimum value"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	520	{0x08000000, "General error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	521	{0x08000020, "Data cannot be transferred or stored to the application"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	522	{0x08000021, "Data cannot be transferred or stored to the application"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	523	" because of local control"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	524	{0x08000022, "Data cannot be transferred or stored to the application"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	525	" because of the present device state"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	526	{0x08000023, "Object dictionary dynamic generation fails or no object"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	527	" dictionary is present"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	528	{}
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	529	};
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	530
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	531	/******************************************************************************
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	532	* Realtime interface
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	533	*****************************************************************************/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	534
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	535	/**
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	536	Reads an 8-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	537	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	538	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	539	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	540	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	541
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	542	int ecrt_slave_sdo_read_exp8(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	543	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	544	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	545	uint8_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	546	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	547	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	548	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	549	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	550	*target = EC_READ_U8(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	551	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	552	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	553
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	554	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	555
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	556	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	557	Reads a 16-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	558	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	559	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	560	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	561	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	562
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	563	int ecrt_slave_sdo_read_exp16(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	564	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	565	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	566	uint16_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	567	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	568	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	569	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	570	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	571	*target = EC_READ_U16(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	572	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	573	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	574
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	575	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	576
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	577	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	578	Reads a 32-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	579	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	580	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	581	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	582	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	583
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	584	int ecrt_slave_sdo_read_exp32(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	585	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	586	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	587	uint32_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	588	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	589	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	590	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	591	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	592	*target = EC_READ_U32(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	593	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	594	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	595
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	596	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	597
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	598	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	599	Writes an 8-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	600	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	601	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	602	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	603
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	604	int ecrt_slave_sdo_write_exp8(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	605	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	606	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	607	uint8_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	608	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	609	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	610	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	611	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	612
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	613	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	614
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	615	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	616	Writes a 16-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	617	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	618	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	619	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	620
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	621	int ecrt_slave_sdo_write_exp16(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	622	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	623	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	624	uint16_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	625	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	626	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	627	uint8_t data[2];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	628	EC_WRITE_U16(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	629	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	630	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	631
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	632	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	633
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	634	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	635	Writes a 32-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	636	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	637	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	638	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	639
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	640	int ecrt_slave_sdo_write_exp32(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	641	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	642	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	643	uint32_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	644	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	645	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	646	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	647	EC_WRITE_U32(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	648	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	649	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	650
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	651	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	652
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	653	/** \cond */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	654
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	655	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	656	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	657	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	658	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	659	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	660	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	661	EXPORT_SYMBOL(ecrt_slave_sdo_read);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	662
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	663	/** \endcond */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	664
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	665	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 24 Apr 2006 10:47:03 +0000
branch	stable-1.0
changeset 1618	5cff10efb927
parent 195	674071846ee3
child 1619	0d4119024f55
permissions	-rw-r--r--