master/slave.c
author Florian Pose <fp@igh-essen.com>
Mon, 06 Nov 2006 09:43:36 +0000
changeset 479 610ddcf35d5c
parent 467 2274de57ca84
child 482 fbaaaf2a6234
permissions -rw-r--r--
Removed --foreign switch for autotools.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "slave.h"
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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void ec_slave_clear(struct kobject *);
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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
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                                 const char *, size_t);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_WRITE_ATTR(state);
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EC_SYSFS_READ_WRITE_ATTR(eeprom);
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static struct attribute *def_attrs[] = {
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    &attr_info,
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    &attr_state,
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    &attr_eeprom,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = ec_show_slave_attribute,
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    .store = ec_store_slave_attribute
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};
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static struct kobj_type ktype_ec_slave = {
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    .release = ec_slave_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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static struct kobj_type ktype_ec_slave_sdos = {};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Slave constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
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                  ec_master_t *master, /**< EtherCAT master */
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                  uint16_t ring_position, /**< ring position */
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                  uint16_t station_address /**< station address to configure */
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                  )
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{
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    unsigned int i;
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    slave->ring_position = ring_position;
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    slave->station_address = station_address;
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    // init kobject and add it to the hierarchy
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    memset(&slave->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&slave->kobj);
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    slave->kobj.ktype = &ktype_ec_slave;
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    slave->kobj.parent = &master->kobj;
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    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
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        EC_ERR("Failed to set kobject name.\n");
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        kobject_put(&slave->kobj);
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        return -1;
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    }
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    // init SDO kobject and add it to the hierarchy
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    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&slave->sdo_kobj);
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    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
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    slave->sdo_kobj.parent = &slave->kobj;
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    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
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        EC_ERR("Failed to set kobject name.\n");
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        kobject_put(&slave->sdo_kobj);
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        kobject_put(&slave->kobj);
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        return -1;
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    }
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    slave->master = master;
325
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    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
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    slave->configured = 0;
325
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   136
    slave->error_flag = 0;
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   137
    slave->online = 1;
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   138
    slave->fmmu_count = 0;
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diff changeset
   139
188
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
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   140
    slave->coupler_index = 0;
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   141
    slave->coupler_subindex = 0xFFFF;
325
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   142
73
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   143
    slave->base_type = 0;
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   144
    slave->base_revision = 0;
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   145
    slave->base_build = 0;
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   146
    slave->base_fmmu_count = 0;
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   147
    slave->base_sync_count = 0;
325
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    slave->eeprom_data = NULL;
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    slave->eeprom_size = 0;
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    slave->new_eeprom_data = NULL;
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    slave->new_eeprom_size = 0;
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   153
114
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    slave->sii_alias = 0;
73
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    slave->sii_vendor_id = 0;
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    slave->sii_product_code = 0;
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    slave->sii_revision_number = 0;
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   158
    slave->sii_serial_number = 0;
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   159
    slave->sii_rx_mailbox_offset = 0;
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    slave->sii_rx_mailbox_size = 0;
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   161
    slave->sii_tx_mailbox_offset = 0;
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    slave->sii_tx_mailbox_size = 0;
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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   163
    slave->sii_mailbox_protocols = 0;
325
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    slave->sii_group = NULL;
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    slave->sii_image = NULL;
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    slave->sii_order = NULL;
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   167
    slave->sii_name = NULL;
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   168
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    INIT_LIST_HEAD(&slave->sii_strings);
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    INIT_LIST_HEAD(&slave->sii_syncs);
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   171
    INIT_LIST_HEAD(&slave->sii_pdos);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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    INIT_LIST_HEAD(&slave->sdo_dictionary);
329
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    INIT_LIST_HEAD(&slave->sdo_confs);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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   174
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
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    slave->sdo_dictionary_fetched = 0;
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   176
    slave->jiffies_preop = 0;
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   177
183
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    for (i = 0; i < 4; i++) {
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   179
        slave->dl_link[i] = 0;
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        slave->dl_loop[i] = 0;
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   181
        slave->dl_signal[i] = 0;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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   182
        slave->sii_physical_layer[i] = 0xFF;
145
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   183
    }
182
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   185
    return 0;
73
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   186
}
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   188
/*****************************************************************************/
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   190
/**
195
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   191
   Slave destructor.
448
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   192
   Clears and frees a slave object.
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   193
*/
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   194
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void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
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{
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    ec_sdo_t *sdo, *next_sdo;
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   198
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    // free all SDOs
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    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
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   201
        list_del(&sdo->list);
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   202
        ec_sdo_destroy(sdo);
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   203
    }
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   204
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   205
    // free SDO kobject
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   206
    if (slave->sdo_dictionary_fetched) kobject_del(&slave->sdo_kobj);
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   207
    kobject_put(&slave->sdo_kobj);
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diff changeset
   208
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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   209
    // destroy self
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   210
    kobject_del(&slave->kobj);
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   211
    kobject_put(&slave->kobj);
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diff changeset
   212
}
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   213
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   214
/*****************************************************************************/
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   215
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   216
/**
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   217
   Clear and free slave.
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   218
   This method is called by the kobject,
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   219
   once there are no more references to it.
195
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   220
*/
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diff changeset
   221
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diff changeset
   222
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
182
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   223
{
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   224
    ec_slave_t *slave;
325
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   225
    ec_sii_string_t *string, *next_str;
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   226
    ec_sii_sync_t *sync, *next_sync;
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   227
    ec_sii_pdo_t *pdo, *next_pdo;
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   228
    ec_sii_pdo_entry_t *entry, *next_ent;
329
d004349777fc SDO configuration interface, SDO download state machine.
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diff changeset
   229
    ec_sdo_data_t *sdodata, *next_sdodata;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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diff changeset
   230
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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diff changeset
   231
    slave = container_of(kobj, ec_slave_t, kobj);
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diff changeset
   232
195
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   233
    // free all string objects
325
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diff changeset
   234
    list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {
118
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   235
        list_del(&string->list);
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   236
        kfree(string);
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diff changeset
   237
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   238
195
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   239
    // free all sync managers
325
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diff changeset
   240
    list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   241
        list_del(&sync->list);
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diff changeset
   242
        kfree(sync);
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diff changeset
   243
    }
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diff changeset
   244
195
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   245
    // free all PDOs
325
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diff changeset
   246
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
126
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diff changeset
   247
        list_del(&pdo->list);
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diff changeset
   248
        if (pdo->name) kfree(pdo->name);
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diff changeset
   249
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        // free all PDO entries
126
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        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
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            list_del(&entry->list);
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            if (entry->name) kfree(entry->name);
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            kfree(entry);
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        }
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        kfree(pdo);
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    }
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    if (slave->sii_group) kfree(slave->sii_group);
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    if (slave->sii_image) kfree(slave->sii_image);
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    if (slave->sii_order) kfree(slave->sii_order);
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    if (slave->sii_name) kfree(slave->sii_name);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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329
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    // free all SDO configurations
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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
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        list_del(&sdodata->list);
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        kfree(sdodata->data);
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        kfree(sdodata);
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    }
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266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
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    if (slave->eeprom_data) kfree(slave->eeprom_data);
269
a03be9a6fed6 EEPROM writing via SysFS.
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    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
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7a43437bc48b Fixed memory leak in master and slave destructors.
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    kfree(slave);
121
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}
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/*****************************************************************************/
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/**
446
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   Reset slave from operation mode.
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*/
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void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
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{
465
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    ec_sdo_data_t *sdodata, *next_sdodata;
467
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    ec_sii_sync_t *sync;
465
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    // remove FMMU configurations
446
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    slave->fmmu_count = 0;
465
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    // free all SDO configurations
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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
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        list_del(&sdodata->list);
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        kfree(sdodata->data);
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        kfree(sdodata);
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    }
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    // remove estimated sync manager sizes
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    list_for_each_entry(sync, &slave->sii_syncs, list) {
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        sync->est_length = 0;
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    }
446
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}
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/*****************************************************************************/
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/**
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 */
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void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */
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                            ec_slave_state_t state /**< new state */
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                            )
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{
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    slave->requested_state = state;
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    slave->error_flag = 0;
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}
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/*****************************************************************************/
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/**
195
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   Fetches data from a STRING category.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
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   326
                           const uint8_t *data /**< category data */
118
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                           )
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{
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    unsigned int string_count, i;
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    size_t size;
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    off_t offset;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   332
    ec_sii_string_t *string;
118
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   333
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   334
    string_count = data[0];
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   335
    offset = 1;
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   336
    for (i = 0; i < string_count; i++) {
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   337
        size = data[offset];
195
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   338
        // allocate memory for string structure and data at a single blow
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   339
        if (!(string = (ec_sii_string_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   340
              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {
118
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diff changeset
   341
            EC_ERR("Failed to allocate string memory.\n");
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   342
            return -1;
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   343
        }
121
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   344
        string->size = size;
161
ddb7266d1c56 Bugfix: Discovered memory leak.
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diff changeset
   345
        // string memory appended to string structure
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   346
        string->data = (char *) string + sizeof(ec_sii_string_t);
118
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diff changeset
   347
        memcpy(string->data, data + offset + 1, size);
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   348
        string->data[size] = 0x00;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   349
        list_add_tail(&string->list, &slave->sii_strings);
118
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   350
        offset += 1 + size;
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   351
    }
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   352
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   353
    return 0;
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diff changeset
   354
}
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   355
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   356
/*****************************************************************************/
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   357
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   358
/**
195
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   359
   Fetches data from a GENERAL category.
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   360
   \return 0 in case of success, else < 0
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   361
*/
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   362
325
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   363
void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
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diff changeset
   364
                            const uint8_t *data /**< category data */
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diff changeset
   365
                            )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
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   366
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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   367
    unsigned int i;
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diff changeset
   368
325
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   369
    ec_slave_locate_string(slave, data[0], &slave->sii_group);
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   370
    ec_slave_locate_string(slave, data[1], &slave->sii_image);
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diff changeset
   371
    ec_slave_locate_string(slave, data[2], &slave->sii_order);
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diff changeset
   372
    ec_slave_locate_string(slave, data[3], &slave->sii_name);
123
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diff changeset
   373
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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diff changeset
   374
    for (i = 0; i < 4; i++)
195
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diff changeset
   375
        slave->sii_physical_layer[i] =
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diff changeset
   376
            (data[4] & (0x03 << (i * 2))) >> (i * 2);
118
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diff changeset
   377
}
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   378
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   379
/*****************************************************************************/
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   380
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diff changeset
   381
/**
195
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diff changeset
   382
   Fetches data from a SYNC MANAGER category.
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diff changeset
   383
   \return 0 in case of success, else < 0
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diff changeset
   384
*/
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diff changeset
   385
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diff changeset
   386
int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
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diff changeset
   387
                        const uint8_t *data, /**< category data */
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diff changeset
   388
                        size_t word_count /**< number of words */
126
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diff changeset
   389
                        )
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parents: 124
diff changeset
   390
{
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diff changeset
   391
    unsigned int sync_count, i;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   392
    ec_sii_sync_t *sync;
126
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diff changeset
   393
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   394
    sync_count = word_count / 4; // sync manager struct is 4 words long
126
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diff changeset
   395
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diff changeset
   396
    for (i = 0; i < sync_count; i++, data += 8) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   397
        if (!(sync = (ec_sii_sync_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   398
              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {
126
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diff changeset
   399
            EC_ERR("Failed to allocate Sync-Manager memory.\n");
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diff changeset
   400
            return -1;
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parents: 124
diff changeset
   401
        }
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parents: 124
diff changeset
   402
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diff changeset
   403
        sync->index = i;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   404
        sync->physical_start_address = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   405
        sync->length                 = EC_READ_U16(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   406
        sync->control_register       = EC_READ_U8 (data + 4);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   407
        sync->enable                 = EC_READ_U8 (data + 6);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   408
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   409
        sync->est_length = 0;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   410
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   411
        list_add_tail(&sync->list, &slave->sii_syncs);
126
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parents: 124
diff changeset
   412
    }
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parents: 124
diff changeset
   413
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parents: 124
diff changeset
   414
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   415
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   416
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   417
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   418
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   419
/**
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   420
   Fetches data from a [RT]XPDO category.
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   421
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   422
*/
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   423
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   424
int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
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parents: 190
diff changeset
   425
                       const uint8_t *data, /**< category data */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   426
                       size_t word_count, /**< number of words */
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   427
                       ec_sii_pdo_type_t pdo_type /**< PDO type */
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   428
                       )
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parents: 124
diff changeset
   429
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   430
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   431
    ec_sii_pdo_entry_t *entry;
126
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parents: 124
diff changeset
   432
    unsigned int entry_count, i;
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parents: 124
diff changeset
   433
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parents: 124
diff changeset
   434
    while (word_count >= 4) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   435
        if (!(pdo = (ec_sii_pdo_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   436
              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   437
            EC_ERR("Failed to allocate PDO memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   438
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   439
        }
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parents: 124
diff changeset
   440
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parents: 124
diff changeset
   441
        INIT_LIST_HEAD(&pdo->entries);
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parents: 124
diff changeset
   442
        pdo->type = pdo_type;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   443
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   444
        pdo->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   445
        entry_count = EC_READ_U8(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   446
        pdo->sync_index = EC_READ_U8(data + 3);
126
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parents: 124
diff changeset
   447
        pdo->name = NULL;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   448
        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   449
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 320
diff changeset
   450
        list_add_tail(&pdo->list, &slave->sii_pdos);
126
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parents: 124
diff changeset
   451
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   452
        word_count -= 4;
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parents: 124
diff changeset
   453
        data += 8;
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parents: 124
diff changeset
   454
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   455
        for (i = 0; i < entry_count; i++) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   456
            if (!(entry = (ec_sii_pdo_entry_t *)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   457
                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {
126
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parents: 124
diff changeset
   458
                EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   459
                return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   460
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   461
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   462
            entry->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   463
            entry->subindex = EC_READ_U8(data + 2);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   464
            entry->name = NULL;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   465
            ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   466
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   467
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   468
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   469
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   470
            word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   471
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   472
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   473
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   474
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   475
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   476
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   477
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   478
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   479
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   480
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   481
   Searches the string list for an index and allocates a new string.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   482
   \return 0 in case of success, else < 0
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   483
   \todo documentation
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   484
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   485
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   486
int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   487
                           unsigned int index, /**< string index */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   488
                           char **ptr /**< Address of the string pointer */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   489
                           )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   490
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   491
    ec_sii_string_t *string;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   492
    char *err_string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   493
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   494
    // Erst alten Speicher freigeben
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   495
    if (*ptr) {
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   496
        kfree(*ptr);
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   497
        *ptr = NULL;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   498
    }
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   499
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   500
    // Index 0 bedeutet "nicht belegt"
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   501
    if (!index) return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   502
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   503
    // EEPROM-String mit Index finden und kopieren
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   504
    list_for_each_entry(string, &slave->sii_strings, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   505
        if (--index) continue;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   506
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   507
        if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   508
            EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   509
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   510
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   511
        memcpy(*ptr, string->data, string->size + 1);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   512
        return 0;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   513
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   514
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 458
diff changeset
   515
    if (slave->master->debug_level)
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 458
diff changeset
   516
        EC_WARN("String %i not found in slave %i.\n",
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 458
diff changeset
   517
                index, slave->ring_position);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   518
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   519
    err_string = "(string not found)";
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   520
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   521
    if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   522
        EC_WARN("Unable to allocate string memory.\n");
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   523
        return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   524
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   525
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   526
    memcpy(*ptr, err_string, strlen(err_string) + 1);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   527
    return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   528
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   529
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   530
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   531
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   532
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   533
   Prepares an FMMU configuration.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   534
   Configuration data for the FMMU is saved in the slave structure and is
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   535
   written to the slave in ecrt_master_activate().
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   536
   The FMMU configuration is done in a way, that the complete data range
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   537
   of the corresponding sync manager is covered. Seperate FMMUs are configured
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   538
   for each domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   539
   If the FMMU configuration is already prepared, the function returns with
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   540
   success.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   541
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   542
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   543
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   544
int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   545
                          const ec_domain_t *domain, /**< domain */
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   546
                          const ec_sii_sync_t *sync  /**< sync manager */
160
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu().
Florian Pose <fp@igh-essen.com>
parents: 157
diff changeset
   547
                          )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   548
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   549
    unsigned int i;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   550
    ec_fmmu_t *fmmu;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   551
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   552
    // FMMU configuration already prepared?
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   553
    for (i = 0; i < slave->fmmu_count; i++) {
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   554
        fmmu = &slave->fmmus[i];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   555
        if (fmmu->domain == domain && fmmu->sync == sync)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   556
            return 0;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   557
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   558
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   559
    // reserve new FMMU...
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   560
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   561
    if (slave->fmmu_count >= slave->base_fmmu_count) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   562
        EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   563
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   564
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   565
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   566
    fmmu = &slave->fmmus[slave->fmmu_count];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   567
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   568
    fmmu->index = slave->fmmu_count;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   569
    fmmu->domain = domain;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   570
    fmmu->sync = sync;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   571
    fmmu->logical_start_address = 0;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   572
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   573
    slave->fmmu_count++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   574
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   575
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   576
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   577
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   578
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   579
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   580
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   581
   Outputs all information about a certain slave.
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   582
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   583
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   584
size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   585
                     char *buffer /**< Output buffer */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   586
                     )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   587
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   588
    off_t off = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   589
    ec_sii_sync_t *sync;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   590
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   591
    ec_sii_pdo_entry_t *pdo_entry;
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   592
    int first, i;
464
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   593
    ec_sdo_data_t *sdodata;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   594
    char str[20];
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   595
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   596
    off += sprintf(buffer + off, "\nName: ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   597
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   598
    if (slave->sii_name)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   599
        off += sprintf(buffer + off, "%s", slave->sii_name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   600
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   601
    off += sprintf(buffer + off, "\nVendor ID: 0x%08X\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   602
                   slave->sii_vendor_id);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   603
    off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   604
                   slave->sii_product_code);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   605
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   606
    off += sprintf(buffer + off, "State: ");
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   607
    off += ec_state_string(slave->current_state, buffer + off);
458
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   608
    off += sprintf(buffer + off, "\nFlags: %s, %s\n",
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   609
                   slave->online ? "online" : "OFFLINE",
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   610
                   slave->error_flag ? "ERROR" : "ok");
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   611
    off += sprintf(buffer + off, "Ring position: %i\n",
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   612
                   slave->ring_position);
357
277de5572f99 Coupler information in slave info file, lines in lsec.
Florian Pose <fp@igh-essen.com>
parents: 349
diff changeset
   613
    off += sprintf(buffer + off, "Advanced position: %i:%i\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   614
                   slave->coupler_index, slave->coupler_subindex);
357
277de5572f99 Coupler information in slave info file, lines in lsec.
Florian Pose <fp@igh-essen.com>
parents: 349
diff changeset
   615
    off += sprintf(buffer + off, "Coupler: %s\n\n",
277de5572f99 Coupler information in slave info file, lines in lsec.
Florian Pose <fp@igh-essen.com>
parents: 349
diff changeset
   616
                   ec_slave_is_coupler(slave) ? "yes" : "no");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   617
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   618
    off += sprintf(buffer + off, "Data link status:\n");
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   619
    for (i = 0; i < 4; i++) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   620
        off += sprintf(buffer + off, "  Port %i (", i);
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   621
        switch (slave->sii_physical_layer[i]) {
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   622
            case 0x00:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   623
                off += sprintf(buffer + off, "EBUS");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   624
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   625
            case 0x01:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   626
                off += sprintf(buffer + off, "100BASE-TX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   627
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   628
            case 0x02:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   629
                off += sprintf(buffer + off, "100BASE-FX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   630
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   631
            default:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   632
                off += sprintf(buffer + off, "unknown (%i)",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   633
                               slave->sii_physical_layer[i]);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   634
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   635
        off += sprintf(buffer + off, ") Link %s, Loop %s, %s\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   636
                       slave->dl_link[i] ? "up" : "down",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   637
                       slave->dl_loop[i] ? "closed" : "open",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   638
                       slave->dl_signal[i] ? "Signal detected" : "No signal");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   639
    }
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   640
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   641
    if (slave->sii_mailbox_protocols) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   642
        off += sprintf(buffer + off, "\nMailboxes:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   643
        off += sprintf(buffer + off, "  RX mailbox: 0x%04X/%i,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   644
                       " TX mailbox: 0x%04X/%i\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   645
                       slave->sii_rx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   646
                       slave->sii_rx_mailbox_size,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   647
                       slave->sii_tx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   648
                       slave->sii_tx_mailbox_size);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   649
        off += sprintf(buffer + off, "  Supported protocols: ");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   650
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   651
        first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   652
        if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   653
            off += sprintf(buffer + off, "AoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   654
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   655
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   656
        if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   657
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   658
            off += sprintf(buffer + off, "EoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   659
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   660
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   661
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   662
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   663
            off += sprintf(buffer + off, "CoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   664
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   665
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   666
        if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   667
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   668
            off += sprintf(buffer + off, "FoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   669
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   670
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   671
        if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   672
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   673
            off += sprintf(buffer + off, "SoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   674
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   675
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   676
        if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   677
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   678
            off += sprintf(buffer + off, "VoE");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   679
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   680
        off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   681
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   682
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   683
    if (slave->sii_alias || slave->sii_group
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   684
        || slave->sii_image || slave->sii_order)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   685
        off += sprintf(buffer + off, "\nSII data:\n");
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   686
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   687
    if (slave->sii_alias)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   688
        off += sprintf(buffer + off, "  Configured station alias:"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   689
                       " 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   690
    if (slave->sii_group)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   691
        off += sprintf(buffer + off, "  Group: %s\n", slave->sii_group);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   692
    if (slave->sii_image)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   693
        off += sprintf(buffer + off, "  Image: %s\n", slave->sii_image);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   694
    if (slave->sii_order)
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   695
        off += sprintf(buffer + off, "  Order number: %s\n", slave->sii_order);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   696
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   697
    if (!list_empty(&slave->sii_syncs))
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   698
        off += sprintf(buffer + off, "\nSync-Managers:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   699
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   700
    list_for_each_entry(sync, &slave->sii_syncs, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   701
        off += sprintf(buffer + off, "  %i: 0x%04X, length %i,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   702
                       " control 0x%02X, %s\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   703
                       sync->index, sync->physical_start_address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   704
                       sync->length, sync->control_register,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   705
                       sync->enable ? "enable" : "disable");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   706
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   707
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   708
    if (!list_empty(&slave->sii_pdos))
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   709
        off += sprintf(buffer + off, "\nPDOs:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   710
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   711
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   712
        off += sprintf(buffer + off,
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   713
                       "  %s \"%s\" (0x%04X), Sync-Manager %i\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   714
                       pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   715
                       pdo->name ? pdo->name : "???",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   716
                       pdo->index, pdo->sync_index);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   717
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   718
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   719
            off += sprintf(buffer + off, "    \"%s\" 0x%04X:%X, %i bit\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   720
                           pdo_entry->name ? pdo_entry->name : "???",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   721
                           pdo_entry->index, pdo_entry->subindex,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   722
                           pdo_entry->bit_length);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   723
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   724
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   725
464
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   726
    if (!list_empty(&slave->sdo_confs))
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   727
        off += sprintf(buffer + off, "\nSDO configurations:\n");
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   728
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   729
    list_for_each_entry(sdodata, &slave->sdo_confs, list) {
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   730
        switch (sdodata->size) {
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   731
            case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   732
            case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   733
            case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   734
            default: sprintf(str, "(invalid size)"); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   735
        }
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   736
        off += sprintf(buffer + off, "  0x%04X:%-3i -> %s\n",
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   737
                       sdodata->index, sdodata->subindex, str);
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   738
    }
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   739
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   740
    off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   741
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   742
    return off;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   743
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   744
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   745
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   746
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   747
/**
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   748
   Schedules an EEPROM write operation.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   749
   \return 0 in case of success, else < 0
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   750
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   751
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   752
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   753
                              const uint8_t *data, /**< new EEPROM data */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   754
                              size_t size /**< size of data in bytes */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   755
                              )
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   756
{
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   757
    uint16_t word_size, cat_type, cat_size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   758
    const uint16_t *data_words, *next_header;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   759
    uint16_t *new_data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   760
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   761
    if (!slave->master->eeprom_write_enable) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   762
        EC_ERR("Writing EEPROMs not allowed! Enable via"
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   763
               " eeprom_write_enable SysFS entry.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   764
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   765
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   766
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
   767
    if (slave->master->mode != EC_MASTER_MODE_IDLE) {
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
   768
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   769
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   770
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   771
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   772
    if (slave->new_eeprom_data) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   773
        EC_ERR("Slave %i already has a pending EEPROM write operation!\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   774
               slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   775
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   776
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   777
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   778
    // coarse check of the data
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   779
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   780
    if (size % 2) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   781
        EC_ERR("EEPROM size is odd! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   782
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   783
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   784
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   785
    data_words = (const uint16_t *) data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   786
    word_size = size / 2;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   787
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   788
    if (word_size < 0x0041) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   789
        EC_ERR("EEPROM data too short! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   790
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   791
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   792
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   793
    next_header = data_words + 0x0040;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   794
    cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   795
    while (cat_type != 0xFFFF) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   796
        cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   797
        cat_size = EC_READ_U16(next_header + 1);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   798
        if ((next_header + cat_size + 2) - data_words >= word_size) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   799
            EC_ERR("EEPROM data seems to be corrupted! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   800
            return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   801
        }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   802
        next_header += cat_size + 2;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   803
        cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   804
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   805
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   806
    // data ok!
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   807
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   808
    if (!(new_data = (uint16_t *) kmalloc(word_size * 2, GFP_KERNEL))) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   809
        EC_ERR("Unable to allocate memory for new EEPROM data!\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   810
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   811
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   812
    memcpy(new_data, data, size);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   813
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   814
    slave->new_eeprom_size = word_size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   815
    slave->new_eeprom_data = new_data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   816
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   817
    EC_INFO("EEPROM writing scheduled for slave %i, %i words.\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   818
            slave->ring_position, word_size);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   819
    return 0;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   820
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   821
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   822
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   823
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   824
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   825
   Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   826
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   827
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   828
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   829
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   830
                                struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   831
                                char *buffer /**< memory to store data */
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   832
                                )
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   833
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   834
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   835
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   836
    if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   837
        return ec_slave_info(slave, buffer);
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   838
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   839
    else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   840
        switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   841
            case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   842
                return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   843
            case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   844
                return sprintf(buffer, "PREOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   845
            case EC_SLAVE_STATE_SAVEOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   846
                return sprintf(buffer, "SAVEOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   847
            case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   848
                return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   849
            default:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   850
                return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   851
        }
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   852
    }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   853
    else if (attr == &attr_eeprom) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   854
        if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   855
            if (slave->eeprom_size > PAGE_SIZE) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   856
                EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   857
                       slave->ring_position, slave->eeprom_size,
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   858
                       (int) PAGE_SIZE);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   859
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   860
            else {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   861
                memcpy(buffer, slave->eeprom_data, slave->eeprom_size);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   862
                return slave->eeprom_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   863
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   864
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   865
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   866
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   867
    return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   868
}
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   869
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   870
/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   871
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   872
/**
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   873
   Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   874
   \return number of bytes processed, or negative error code
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   875
*/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   876
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   877
ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   878
                                 struct attribute *attr, /**< attribute */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   879
                                 const char *buffer, /**< memory with data */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   880
                                 size_t size /**< size of data to store */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   881
                                 )
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   882
{
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   883
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   884
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   885
    if (attr == &attr_state) {
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 400
diff changeset
   886
        char state[EC_STATE_STRING_SIZE];
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   887
        if (!strcmp(buffer, "INIT\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   888
            ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   889
        else if (!strcmp(buffer, "PREOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   890
            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   891
        else if (!strcmp(buffer, "SAVEOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   892
            ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   893
        else if (!strcmp(buffer, "OP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   894
            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   895
        else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   896
            EC_ERR("Invalid slave state \"%s\"!\n", buffer);
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   897
            return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   898
        }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   899
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
   900
        ec_state_string(slave->requested_state, state);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   901
        EC_INFO("Accepted new state %s for slave %i.\n",
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
   902
                state, slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   903
        return size;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   904
    }
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   905
    else if (attr == &attr_eeprom) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   906
        if (!ec_slave_write_eeprom(slave, buffer, size))
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   907
            return size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   908
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   909
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   910
    return -EINVAL;
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   911
}
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   912
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
   913
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
   914
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
   915
/**
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   916
   Calculates the size of a sync manager by evaluating PDO sizes.
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   917
   \return sync manager size
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   918
*/
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   919
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   920
uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   921
                                 /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   922
                                 const ec_sii_sync_t *sync
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   923
                                 /**< sync manager */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   924
                                 )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   925
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   926
    ec_sii_pdo_t *pdo;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   927
    ec_sii_pdo_entry_t *pdo_entry;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   928
    unsigned int bit_size, byte_size;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   929
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   930
    if (sync->length) return sync->length;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   931
    if (sync->est_length) return sync->est_length;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   932
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   933
    bit_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   934
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   935
        if (pdo->sync_index != sync->index) continue;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   936
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   937
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   938
            bit_size += pdo_entry->bit_length;
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   939
        }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   940
    }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   941
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   942
    if (bit_size % 8) // round up to full bytes
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   943
        byte_size = bit_size / 8 + 1;
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   944
    else
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   945
        byte_size = bit_size / 8;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   946
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 412
diff changeset
   947
    return byte_size;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   948
}
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
   949
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   950
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   951
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   952
/**
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   953
   \return non-zero if slave is a bus coupler
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   954
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   955
343
b3858d25ba4b Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
   956
int ec_slave_is_coupler(const ec_slave_t *slave /**< EtherCAT slave */)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   957
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   958
    // TODO: Better bus coupler criterion
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   959
    return slave->sii_vendor_id == 0x00000002
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   960
        && slave->sii_product_code == 0x044C2C52;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   961
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   962
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   963
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   964
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   965
/**
394
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   966
   \return non-zero if slave is a bus coupler
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   967
*/
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   968
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   969
int ec_slave_has_subbus(const ec_slave_t *slave /**< EtherCAT slave */)
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   970
{
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   971
    return slave->sii_vendor_id == 0x00000002
400
99c1085fd5e2 Corrected subbus product code.
Florian Pose <fp@igh-essen.com>
parents: 399
diff changeset
   972
        && slave->sii_product_code == 0x04602c22;
394
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   973
}
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   974
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   975
/*****************************************************************************/
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   976
ff1b018a9b09 Added ec_slave_has_subbus()
Florian Pose <fp@igh-essen.com>
parents: 357
diff changeset
   977
/**
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   978
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   979
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   980
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   981
int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   982
                      uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   983
                      uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   984
                      const uint8_t *data, /**< SDO data */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   985
                      size_t size /**< SDO size in bytes */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   986
                      )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   987
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   988
    ec_sdo_data_t *sdodata;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   989
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   990
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   991
        EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   992
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   993
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   994
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   995
    if (!(sdodata = (ec_sdo_data_t *)
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   996
          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   997
        EC_ERR("Failed to allocate memory for SDO configuration object!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   998
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   999
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1000
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1001
    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1002
        EC_ERR("Failed to allocate memory for SDO configuration data!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1003
        kfree(sdodata);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1004
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1005
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1006
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1007
    sdodata->index = sdo_index;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1008
    sdodata->subindex = sdo_subindex;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1009
    memcpy(sdodata->data, data, size);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1010
    sdodata->size = size;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1011
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1012
    list_add_tail(&sdodata->list, &slave->sdo_confs);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1013
    return 0;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1014
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1015
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1016
/*****************************************************************************/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1017
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1018
/**
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1019
   \return 0 in case of success, else < 0
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1020
*/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1021
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1022
int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1023
                      uint32_t vendor_id, /**< vendor ID */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1024
                      uint32_t product_code /**< product code */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1025
                      )
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1026
{
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1027
    if (vendor_id != slave->sii_vendor_id ||
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1028
        product_code != slave->sii_product_code) {
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1029
        EC_ERR("Invalid slave type at position %i - Requested: 0x%08X 0x%08X,"
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1030
               " found: 0x%08X 0x%08X\".\n", slave->ring_position, vendor_id,
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1031
               product_code, slave->sii_vendor_id, slave->sii_product_code);
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1032
        return -1;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1033
    }
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1034
    return 0;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1035
}
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1036
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1037
/*****************************************************************************/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1038
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1039
/**
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1040
   Counts the total number of SDOs and entries in the dictionary.
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1041
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1042
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1043
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1044
                            unsigned int *sdo_count, /**< number of SDOs */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1045
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1046
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1047
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1048
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1049
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1050
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1051
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1052
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1053
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1054
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1055
        list_for_each_entry(entry, &sdo->entries, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1056
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1057
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1058
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1059
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1060
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1061
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1062
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1063
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1064
/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1065
 *  Realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1066
 *****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1067
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1068
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1069
   \return 0 in case of success, else < 0
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1070
   \ingroup RealtimeInterface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1071
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1072
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1073
int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1074
                         uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1075
                         uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1076
                         uint8_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1077
                         )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1078
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1079
    uint8_t data[1];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1080
    EC_WRITE_U8(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1081
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1082
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1083
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1084
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1085
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1086
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1087
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1088
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1089
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1090
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1091
int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1092
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1093
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1094
                          uint16_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1095
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1096
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1097
    uint8_t data[2];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1098
    EC_WRITE_U16(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1099
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1100
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1101
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1102
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1103
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1104
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1105
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1106
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1107
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1108
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1109
int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1110
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1111
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1112
                          uint32_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1113
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1114
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1115
    uint8_t data[4];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1116
    EC_WRITE_U32(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1117
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1118
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1119
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1120
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1121
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1122
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1123
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1124
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1125
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1126
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1127
int ecrt_slave_pdo_size(ec_slave_t *slave, /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1128
                        uint16_t pdo_index, /**< PDO index */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1129
                        uint8_t pdo_subindex, /**< PDO subindex */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1130
                        size_t size /**< new PDO size */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1131
                        )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1132
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1133
    EC_WARN("ecrt_slave_pdo_size() currently not available.\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1134
    return -1;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1135
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1136
#if 0
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1137
    unsigned int i, j, field_counter;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1138
    const ec_sii_sync_t *sync;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1139
    const ec_pdo_t *pdo;
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1140
    ec_varsize_t *var;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1141
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1142
    if (!slave->type) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1143
        EC_ERR("Slave %i has no type information!\n", slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1144
        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1145
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1146
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1147
    field_counter = 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1148
    for (i = 0; (sync = slave->type->sync_managers[i]); i++) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1149
        for (j = 0; (field = sync->fields[j]); j++) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1150
            if (!strcmp(field->name, field_name)) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1151
                if (field_counter++ == field_index) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1152
                    // is the size of this field variable?
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1153
                    if (field->size) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1154
                        EC_ERR("Field \"%s\"[%i] of slave %i has no variable"
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1155
                               " size!\n", field->name, field_index,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1156
                               slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1157
                        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1158
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1159
                    // does a size specification already exist?
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1160
                    list_for_each_entry(var, &slave->varsize_fields, list) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1161
                        if (var->field == field) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1162
                            EC_WARN("Resizing field \"%s\"[%i] of slave %i.\n",
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1163
                                    field->name, field_index,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1164
                                    slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1165
                            var->size = size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1166
                            return 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1167
                        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1168
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1169
                    // create a new size specification...
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1170
                    if (!(var = kmalloc(sizeof(ec_varsize_t), GFP_KERNEL))) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1171
                        EC_ERR("Failed to allocate memory for varsize_t!\n");
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1172
                        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1173
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1174
                    var->field = field;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1175
                    var->size = size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1176
                    list_add_tail(&var->list, &slave->varsize_fields);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1177
                    return 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1178
                }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1179
            }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1180
        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1181
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1182
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1183
    EC_ERR("Slave %i (\"%s %s\") has no field \"%s\"[%i]!\n",
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1184
           slave->ring_position, slave->type->vendor_name,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1185
           slave->type->product_name, field_name, field_index);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1186
    return -1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1187
#endif
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1188
}
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1189
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1190
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1191
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1192
/**< \cond */
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
  1193
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1194
EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1195
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1196
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1197
EXPORT_SYMBOL(ecrt_slave_pdo_size);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1198
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1199
/**< \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1200
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1201
/*****************************************************************************/