master/slave.c
author Florian Pose <fp@igh-essen.com>
Tue, 08 Jan 2008 16:20:02 +0000
changeset 773 6c4646a03d68
parent 772 6c29e74d6763
child 784 0a0994fdafb8
permissions -rw-r--r--
Increased maximum number of EEPROM words from 512 to 1024.
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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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void ec_slave_sdos_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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char *ec_slave_sii_string(ec_slave_t *, unsigned int);
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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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EC_SYSFS_READ_WRITE_ATTR(alias);
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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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    &attr_alias,
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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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    .release = ec_slave_sdos_clear
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};
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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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    slave->master = master;
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    slave->requested_state = EC_SLAVE_STATE_PREOP;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->self_configured = 0;
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    slave->error_flag = 0;
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    slave->online_state = EC_SLAVE_ONLINE;
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    slave->fmmu_count = 0;
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    slave->pdos_registered = 0;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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    slave->base_fmmu_count = 0;
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    slave->eeprom_data = NULL;
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   130
    slave->eeprom_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   131
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   132
    slave->sii_alias = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   133
    slave->sii_vendor_id = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   134
    slave->sii_product_code = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   135
    slave->sii_revision_number = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   136
    slave->sii_serial_number = 0;
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   137
    slave->sii_rx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   138
    slave->sii_rx_mailbox_size = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   139
    slave->sii_tx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   140
    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.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   141
    slave->sii_mailbox_protocols = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   142
    slave->sii_group = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   143
    slave->sii_image = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   144
    slave->sii_order = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   145
    slave->sii_name = NULL;
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   146
    slave->sii_current_on_ebus = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   147
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   148
    slave->sii_strings = NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   149
    slave->sii_string_count = 0;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   150
    slave->sii_syncs = NULL;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   151
    slave->sii_sync_count = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   152
    INIT_LIST_HEAD(&slave->sii_pdos);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
   153
    INIT_LIST_HEAD(&slave->sdo_dictionary);
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   154
    INIT_LIST_HEAD(&slave->sdo_confs);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   155
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   156
    slave->sdo_dictionary_fetched = 0;
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents: 740
diff changeset
   157
    slave->pdo_mapping_fetched = 0;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   158
    slave->jiffies_preop = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   159
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   160
    for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   161
        slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   162
        slave->dl_loop[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   163
        slave->dl_signal[i] = 0;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   164
        slave->sii_physical_layer[i] = 0xFF;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   165
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   166
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   167
    // init kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   168
    memset(&slave->kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   169
    kobject_init(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   170
    slave->kobj.ktype = &ktype_ec_slave;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   171
    slave->kobj.parent = &master->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   172
    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   173
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   174
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   175
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   176
    if (kobject_add(&slave->kobj)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   177
        EC_ERR("Failed to add slave's kobject.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   178
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   179
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   180
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   181
    // init SDO kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   182
    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   183
    kobject_init(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   184
    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   185
    slave->sdo_kobj.parent = &slave->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   186
    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   187
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   188
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   189
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   190
    if (kobject_add(&slave->sdo_kobj)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   191
        EC_ERR("Failed to add SDOs kobject.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   192
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   193
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   194
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   195
    return 0;
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   196
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   197
 out_sdo_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   198
    kobject_put(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   199
    kobject_del(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   200
 out_slave_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   201
    kobject_put(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   202
    return -1;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   203
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   204
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   205
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   206
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   207
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   208
   Slave destructor.
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   209
   Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   210
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   211
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   212
void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   213
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   214
    ec_sdo_t *sdo, *next_sdo;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   215
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   216
    // free all SDOs
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   217
    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   218
        list_del(&sdo->list);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   219
        ec_sdo_destroy(sdo);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   220
    }
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   221
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   222
    // free SDO kobject
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   223
    kobject_del(&slave->sdo_kobj);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   224
    kobject_put(&slave->sdo_kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   225
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   226
    // destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   227
    kobject_del(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   228
    kobject_put(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   229
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   230
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   231
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   232
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   233
/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   234
   Clear and free slave.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   235
   This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   236
   once there are no more references to it.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   237
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   238
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   239
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   240
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   241
    ec_slave_t *slave;
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   242
    ec_pdo_t *pdo, *next_pdo;
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   243
    ec_sdo_data_t *sdodata, *next_sdodata;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   244
    unsigned int i;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   245
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   246
    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
   247
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   248
    // free all strings
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   249
    if (slave->sii_strings) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   250
        for (i = 0; i < slave->sii_string_count; i++)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   251
            kfree(slave->sii_strings[i]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   252
        kfree(slave->sii_strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   253
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   254
195
674071846ee3 Translated all comments and documentation to english language.
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    // free all sync managers
628
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    if (slave->sii_syncs) {
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        for (i = 0; i < slave->sii_sync_count; i++) {
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            ec_sync_clear(&slave->sii_syncs[i]);
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   259
        }
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        kfree(slave->sii_syncs);
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   261
    }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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   262
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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    // free all SII PDOs
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   264
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
126
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   265
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
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diff changeset
   266
        ec_pdo_clear(pdo);
126
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   267
        kfree(pdo);
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   268
    }
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   269
329
d004349777fc SDO configuration interface, SDO download state machine.
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    // free all SDO configurations
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   271
    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
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   272
        list_del(&sdodata->list);
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   273
        kfree(sdodata->data);
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   274
        kfree(sdodata);
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   275
    }
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   276
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
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   277
    if (slave->eeprom_data) kfree(slave->eeprom_data);
418
7a43437bc48b Fixed memory leak in master and slave destructors.
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   278
7a43437bc48b Fixed memory leak in master and slave destructors.
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   279
    kfree(slave);
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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   280
}
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   281
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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   282
/*****************************************************************************/
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   283
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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   284
/**
758
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   285
 * SDO kobject clear method.
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   286
 */
482
fbaaaf2a6234 Added clear function for SDO kobject.
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   287
fbaaaf2a6234 Added clear function for SDO kobject.
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   288
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
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   289
{
fbaaaf2a6234 Added clear function for SDO kobject.
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   290
}
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   291
fbaaaf2a6234 Added clear function for SDO kobject.
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   292
/*****************************************************************************/
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   293
fbaaaf2a6234 Added clear function for SDO kobject.
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   294
/**
446
8fede404c01f Persistent slave lists.
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   Reset slave from operation mode.
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   296
*/
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   297
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   298
void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
8fede404c01f Persistent slave lists.
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   299
{
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   300
    ec_sdo_data_t *sdodata, *next_sdodata;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
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   301
    unsigned int i;
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   302
446
8fede404c01f Persistent slave lists.
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   303
    slave->fmmu_count = 0;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   304
    slave->pdos_registered = 0;
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   305
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   306
    // free all SDO configurations
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   307
    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   308
        list_del(&sdodata->list);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   309
        kfree(sdodata->data);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   310
        kfree(sdodata);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   311
    }
467
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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diff changeset
   312
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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   313
    // remove estimated sync manager sizes
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
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   314
    for (i = 0; i < slave->sii_sync_count; i++) {
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
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diff changeset
   315
        slave->sii_syncs[i].est_length = 0;
467
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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diff changeset
   316
    }
446
8fede404c01f Persistent slave lists.
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   317
}
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   318
8fede404c01f Persistent slave lists.
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   319
/*****************************************************************************/
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   320
8fede404c01f Persistent slave lists.
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   321
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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   322
 * Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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   323
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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   324
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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   325
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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   326
        ec_slave_state_t new_state /**< new application state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   327
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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   328
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   329
    if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   330
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   331
            char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   332
                cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   333
            ec_state_string(slave->current_state, old_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   334
            ec_state_string(new_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   335
            EC_DBG("Slave %i: %s -> %s.\n",
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   336
                   slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   337
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   338
        slave->current_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   339
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   340
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   341
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   342
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   343
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   344
/**
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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   345
 * Sets the online state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   346
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   347
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   348
void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   349
        ec_slave_online_state_t new_state /**< new online state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   350
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   351
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   352
    if (new_state == EC_SLAVE_OFFLINE &&
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   353
            slave->online_state == EC_SLAVE_ONLINE) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   354
        if (slave->pdos_registered)
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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parents: 610
diff changeset
   355
            slave->master->pdo_slaves_offline++;
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   356
        if (slave->master->debug_level)
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   357
            EC_DBG("Slave %i: offline.\n", slave->ring_position);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   358
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   359
    else if (new_state == EC_SLAVE_ONLINE &&
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   360
            slave->online_state == EC_SLAVE_OFFLINE) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   361
        slave->error_flag = 0; // clear error flag
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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parents: 610
diff changeset
   362
        if (slave->pdos_registered)
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   363
            slave->master->pdo_slaves_offline--;
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   364
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   365
            char cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   366
            ec_state_string(slave->current_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   367
            EC_DBG("Slave %i: online (%s).\n",
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   368
                   slave->ring_position, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   369
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   370
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   371
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   372
    slave->online_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   373
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   374
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   375
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   376
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   377
/**
758
8fa6f825eb7d Updated Doxygen documentation.
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parents: 754
diff changeset
   378
 * Request a slave state and resets the error flag.
446
8fede404c01f Persistent slave lists.
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diff changeset
   379
 */
8fede404c01f Persistent slave lists.
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parents: 423
diff changeset
   380
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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parents: 632
diff changeset
   381
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   382
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   383
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   384
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   385
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   386
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   387
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   388
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   389
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   390
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   391
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   392
   Fetches data from a STRING category.
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   393
   \todo range checking
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   394
   \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
   395
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   396
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   397
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   398
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   399
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   400
        size_t data_size /**< number of bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   401
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   402
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   403
    int i;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   404
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   405
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   406
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   407
    slave->sii_string_count = data[0];
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   408
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   409
    if (!slave->sii_string_count)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   410
        return 0;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   411
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   412
    if (!(slave->sii_strings =
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   413
                kmalloc(sizeof(char *) * slave->sii_string_count,
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   414
                    GFP_KERNEL))) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   415
        EC_ERR("Failed to allocate string array memory.\n");
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   416
        goto out_zero;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   417
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   418
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   419
    offset = 1;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   420
    for (i = 0; i < slave->sii_string_count; i++) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   421
        size = data[offset];
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   422
        // allocate memory for string structure and data at a single blow
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   423
        if (!(slave->sii_strings[i] =
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   424
                    kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   425
            EC_ERR("Failed to allocate string memory.\n");
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   426
            goto out_free;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   427
        }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   428
        memcpy(slave->sii_strings[i], data + offset + 1, size);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   429
        slave->sii_strings[i][size] = 0x00; // append binary zero
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   430
        offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   431
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   432
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   433
    return 0;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   434
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   435
out_free:
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   436
    for (i--; i >= 0; i--) kfree(slave->sii_strings[i]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   437
    kfree(slave->sii_strings);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   438
    slave->sii_strings = NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   439
out_zero:
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   440
    slave->sii_string_count = 0;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   441
    return -1;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   442
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   443
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   444
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   445
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   446
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   447
   Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   448
   \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
   449
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   450
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   451
int ec_slave_fetch_sii_general(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   452
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   453
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   454
        size_t data_size /**< size in bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   455
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   456
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   457
    unsigned int i;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   458
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   459
    if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   460
        EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   461
                data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   462
        return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   463
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   464
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   465
    slave->sii_group = ec_slave_sii_string(slave, data[0]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   466
    slave->sii_image = ec_slave_sii_string(slave, data[1]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   467
    slave->sii_order = ec_slave_sii_string(slave, data[2]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   468
    slave->sii_name = ec_slave_sii_string(slave, data[3]);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   469
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   470
    for (i = 0; i < 4; i++)
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   471
        slave->sii_physical_layer[i] =
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   472
            (data[4] & (0x03 << (i * 2))) >> (i * 2);
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   473
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   474
    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   475
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   476
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   477
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   478
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   479
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   480
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   481
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   482
   Fetches data from a SYNC MANAGER category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   483
   \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
   484
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   485
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   486
int ec_slave_fetch_sii_syncs(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   487
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   488
        const uint8_t *data, /**< category data */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   489
        size_t data_size /**< number of bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   490
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   491
{
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   492
    unsigned int i;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   493
    ec_sync_t *sync;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   494
    size_t memsize;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   495
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   496
    // one sync manager struct is 4 words long
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   497
    if (data_size % 8) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   498
        EC_ERR("Invalid SII sync manager size %u in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   499
                data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   500
        return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   501
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   502
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   503
    slave->sii_sync_count = data_size / 8;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   504
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   505
    memsize = sizeof(ec_sync_t) * slave->sii_sync_count;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   506
    if (!(slave->sii_syncs = kmalloc(memsize, GFP_KERNEL))) {
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   507
        EC_ERR("Failed to allocate %u bytes for sync managers.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   508
                memsize);
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   509
        slave->sii_sync_count = 0;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   510
        return -1;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   511
    }
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   512
    
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   513
    for (i = 0; i < slave->sii_sync_count; i++, data += 8) {
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   514
        sync = &slave->sii_syncs[i];
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   515
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   516
        ec_sync_init(sync, slave, i);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   517
        sync->physical_start_address = EC_READ_U16(data);
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   518
        sync->length = EC_READ_U16(data + 2);
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   519
        sync->control_register = EC_READ_U8 (data + 4);
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   520
        sync->enable = EC_READ_U8 (data + 6);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   521
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   522
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   523
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   524
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   525
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   526
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   527
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   528
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   529
   Fetches data from a [RT]XPDO category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   530
   \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
   531
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   532
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   533
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   534
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   535
        const uint8_t *data, /**< category data */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   536
        size_t data_size, /**< number of bytes */
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   537
        ec_pdo_type_t pdo_type /**< PDO type */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   538
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   539
{
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   540
    ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   541
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   542
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   543
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   544
    while (data_size >= 8) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   545
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   546
            EC_ERR("Failed to allocate PDO memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   547
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   548
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   549
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   550
        ec_pdo_init(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   551
        pdo->type = pdo_type;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   552
        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
   553
        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
   554
        pdo->sync_index = EC_READ_U8(data + 3);
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   555
        pdo->name = ec_slave_sii_string(slave, EC_READ_U8(data + 5));
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   556
        list_add_tail(&pdo->list, &slave->sii_pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   557
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   558
        data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   559
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   560
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   561
        for (i = 0; i < entry_count; i++) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   562
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   563
                EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   564
                return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   565
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   566
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   567
            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
   568
            entry->subindex = EC_READ_U8(data + 2);
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   569
            entry->name = ec_slave_sii_string(slave, EC_READ_U8(data + 3));
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   570
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   571
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   572
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   573
            data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   574
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   575
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   576
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   577
        // if sync manager index is positive, the PDO is mapped by default
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   578
        if (pdo->sync_index >= 0) {
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   579
            ec_sync_t *sync;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   580
            ec_pdo_t *mapped_pdo;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   581
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   582
            if (pdo->sync_index >= slave->sii_sync_count) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   583
                EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   584
                        pdo->sync_index, pdo->index, slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   585
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   586
            }
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   587
            sync = &slave->sii_syncs[pdo->sync_index];
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   588
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   589
            if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   590
                EC_ERR("Failed to allocate PDO memory.\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   591
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   592
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   593
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   594
            if (ec_pdo_copy(mapped_pdo, pdo)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   595
                EC_ERR("Failed to copy PDO.\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   596
                kfree(mapped_pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   597
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   598
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   599
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   600
            list_add_tail(&mapped_pdo->list, &sync->pdos);
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   601
            sync->mapping_source = EC_SYNC_MAPPING_SII;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   602
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   603
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   604
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   605
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   606
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   607
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   608
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   609
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   610
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   611
   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
   612
   \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
   613
   \todo documentation
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   614
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   615
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   616
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   617
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   618
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   619
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   620
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   621
    if (!index--) 
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   622
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   623
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   624
    if (index >= slave->sii_string_count) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   625
        if (slave->master->debug_level)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   626
            EC_WARN("String %i not found in slave %i.\n",
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   627
                    index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   628
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   629
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   630
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   631
    return slave->sii_strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   632
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   633
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   634
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   635
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   636
/**
630
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   637
 * Prepares an FMMU configuration.
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   638
 * Configuration data for the FMMU is saved in the slave structure and is
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   639
 * written to the slave in ecrt_master_activate().
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   640
 * The FMMU configuration is done in a way, that the complete data range
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   641
 * of the corresponding sync manager is covered. Seperate FMMUs are configured
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   642
 * for each domain.
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   643
 * If the FMMU configuration is already prepared, the function returns with
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   644
 * success.
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   645
 * \return 0 in case of success, else < 0
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   646
 */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   647
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   648
int ec_slave_prepare_fmmu(
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   649
        ec_slave_t *slave, /**< EtherCAT slave */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   650
        const ec_domain_t *domain, /**< domain */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   651
        const ec_sync_t *sync  /**< sync manager */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   652
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   653
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   654
    unsigned int i;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   655
    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
   656
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   657
    // FMMU configuration already prepared?
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   658
    for (i = 0; i < slave->fmmu_count; i++) {
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   659
        fmmu = &slave->fmmus[i];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   660
        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
   661
            return 0;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   662
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   663
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   664
    // reserve new FMMU...
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   665
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   666
    if (slave->fmmu_count >= slave->base_fmmu_count) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   667
        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
   668
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   669
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   670
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   671
    fmmu = &slave->fmmus[slave->fmmu_count];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   672
630
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   673
    ec_fmmu_init(fmmu, slave, slave->fmmu_count++);
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   674
    fmmu->domain = domain;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   675
    fmmu->sync = sync;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   676
    fmmu->logical_start_address = 0;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   677
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   678
    slave->pdos_registered = 1;
609
611d738a1392 Moved state request on PDO registration to slave.c.
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   679
    
611d738a1392 Moved state request on PDO registration to slave.c.
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   680
    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   681
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   682
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   683
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   684
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   685
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   686
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   687
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   688
   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
   689
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   690
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   691
ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   692
        char *buffer /**< Output buffer */
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   693
        )
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   694
{
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   695
    ec_sync_t *sync;
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   696
    ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   697
    ec_pdo_entry_t *pdo_entry;
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   698
    int first, i;
464
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   699
    ec_sdo_data_t *sdodata;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   700
    char str[20];
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   701
    char *large_buffer, *buf;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   702
    unsigned int size;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   703
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   704
    if (!(large_buffer = (char *) kmalloc(PAGE_SIZE * 2, GFP_KERNEL))) {
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   705
        return -ENOMEM;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   706
    }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   707
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   708
    buf = large_buffer;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   709
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   710
    buf += sprintf(buf, "Ring position: %i\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   711
                   slave->ring_position);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   712
    buf += sprintf(buf, "State: ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   713
    buf += ec_state_string(slave->current_state, buf);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   714
    buf += sprintf(buf, " (");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   715
    buf += ec_state_string(slave->requested_state, buf);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   716
    buf += sprintf(buf, ")\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   717
    buf += sprintf(buf, "Flags: %s, %s\n\n",
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   718
            slave->online_state == EC_SLAVE_ONLINE ? "online" : "OFFLINE",
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   719
            slave->error_flag ? "ERROR" : "ok");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   720
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   721
    buf += sprintf(buf, "Data link status:\n");
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   722
    for (i = 0; i < 4; i++) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   723
        buf += sprintf(buf, "  Port %u: Phy %u (",
764
41a5bdff9d9b Minor output changes in slave info file.
Florian Pose <fp@igh-essen.com>
parents: 763
diff changeset
   724
                i, slave->sii_physical_layer[i]);
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   725
        switch (slave->sii_physical_layer[i]) {
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   726
            case 0x00:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   727
                buf += sprintf(buf, "EBUS");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   728
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   729
            case 0x01:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   730
                buf += sprintf(buf, "100BASE-TX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   731
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   732
            case 0x02:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   733
                buf += sprintf(buf, "100BASE-FX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   734
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   735
            default:
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   736
                buf += sprintf(buf, "unknown");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   737
        }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   738
        buf += sprintf(buf, "), Link %s, Loop %s, %s\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   739
                       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
   740
                       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
   741
                       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
   742
    }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   743
    buf += sprintf(buf, "\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   744
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   745
    if (slave->sii_alias)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   746
        buf += sprintf(buf, "Configured station alias:"
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   747
                       " 0x%04X (%i)\n\n", slave->sii_alias, slave->sii_alias);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   748
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   749
    buf += sprintf(buf, "Identity:\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   750
    buf += sprintf(buf, "  Vendor ID: 0x%08X (%u)\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   751
                   slave->sii_vendor_id, slave->sii_vendor_id);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   752
    buf += sprintf(buf, "  Product code: 0x%08X (%u)\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   753
                   slave->sii_product_code, slave->sii_product_code);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   754
    buf += sprintf(buf, "  Revision number: 0x%08X (%u)\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   755
                   slave->sii_revision_number, slave->sii_revision_number);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   756
    buf += sprintf(buf, "  Serial number: 0x%08X (%u)\n\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   757
                   slave->sii_serial_number, slave->sii_serial_number);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   758
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   759
    if (slave->sii_mailbox_protocols) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   760
        buf += sprintf(buf, "Mailboxes:\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   761
        buf += sprintf(buf, "  RX: 0x%04X/%u, TX: 0x%04X/%u\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   762
                slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   763
                slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   764
        buf += sprintf(buf, "  Supported protocols: ");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   765
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   766
        first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   767
        if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   768
            buf += sprintf(buf, "AoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   769
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   770
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   771
        if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   772
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   773
            buf += sprintf(buf, "EoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   774
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   775
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   776
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   777
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   778
            buf += sprintf(buf, "CoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   779
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   780
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   781
        if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   782
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   783
            buf += sprintf(buf, "FoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   784
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   785
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   786
        if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   787
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   788
            buf += sprintf(buf, "SoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   789
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   790
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   791
        if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   792
            if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   793
            buf += sprintf(buf, "VoE");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   794
        }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   795
        buf += sprintf(buf, "\n\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   796
    }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   797
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   798
    buf += sprintf(buf, "Current consumption: %i mA\n\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   799
            slave->sii_current_on_ebus);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   800
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   801
    if (slave->sii_group || slave->sii_image || slave->sii_order
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   802
            || slave->sii_name) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   803
        buf += sprintf(buf, "General:\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   804
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   805
        if (slave->sii_group)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   806
            buf += sprintf(buf, "  Group: %s\n", slave->sii_group);
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   807
        if (slave->sii_image)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   808
            buf += sprintf(buf, "  Image: %s\n", slave->sii_image);
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   809
        if (slave->sii_order)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   810
            buf += sprintf(buf, "  Order number: %s\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   811
                    slave->sii_order);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   812
        if (slave->sii_name)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   813
            buf += sprintf(buf, "  Name: %s\n", slave->sii_name);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   814
        buf += sprintf(buf, "\n");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   815
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   816
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   817
    if (slave->sii_sync_count) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   818
        buf += sprintf(buf, "Sync managers / PDO mapping:\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   819
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   820
        for (i = 0; i < slave->sii_sync_count; i++) {
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   821
            sync = &slave->sii_syncs[i];
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   822
            buf += sprintf(buf,
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   823
                    "  SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n",
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   824
                    sync->index, sync->physical_start_address,
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   825
                    ec_sync_size(sync), sync->control_register,
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   826
                    sync->enable ? "enable" : "disable");
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   827
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   828
            if (list_empty(&sync->pdos)) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   829
                buf += sprintf(buf, "    No PDOs mapped.\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   830
            } else if (sync->mapping_source != EC_SYNC_MAPPING_NONE) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   831
                buf += sprintf(buf,
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   832
                        "    PDO mapping information from %s.\n",
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   833
                        sync->mapping_source == EC_SYNC_MAPPING_SII
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   834
                        ? "SII" : "CoE");
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   835
            }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   836
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   837
            list_for_each_entry(pdo, &sync->pdos, list) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   838
                buf += sprintf(buf, "    %s 0x%04X \"%s\"\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   839
                        pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo",
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   840
                        pdo->index, pdo->name ? pdo->name : "???");
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   841
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   842
                list_for_each_entry(pdo_entry, &pdo->entries, list) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   843
                    buf += sprintf(buf,
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   844
                            "      0x%04X:%X \"%s\", %i bit\n",
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   845
                            pdo_entry->index, pdo_entry->subindex,
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   846
                            pdo_entry->name ? pdo_entry->name : "???",
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   847
                            pdo_entry->bit_length);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   848
                }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   849
            }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   850
        }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   851
        buf += sprintf(buf, "\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   852
    }
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   853
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   854
    // type-cast to avoid warnings on some compilers
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   855
    if (!list_empty((struct list_head *) &slave->sii_pdos)) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   856
        buf += sprintf(buf, "Available PDOs from SII:\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   857
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   858
        list_for_each_entry(pdo, &slave->sii_pdos, list) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   859
            buf += sprintf(buf, "  %s 0x%04X \"%s\"",
750
bc42cd59329b Minor: renamed [RT]XPDO to [RT]xPdo.
Florian Pose <fp@igh-essen.com>
parents: 747
diff changeset
   860
                    pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   861
                    pdo->index, pdo->name ? pdo->name : "???");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   862
            if (pdo->sync_index >= 0)
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   863
                buf += sprintf(buf, ", default mapping: SM%u.\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   864
                        pdo->sync_index);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   865
            else
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   866
                buf += sprintf(buf, ", no default mapping.\n");
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   867
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   868
            list_for_each_entry(pdo_entry, &pdo->entries, list) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   869
                buf += sprintf(buf, "    0x%04X:%X \"%s\", %i bit\n",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   870
                        pdo_entry->index, pdo_entry->subindex,
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   871
                        pdo_entry->name ? pdo_entry->name : "???",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   872
                        pdo_entry->bit_length);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   873
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   874
        }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   875
        buf += sprintf(buf, "\n");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   876
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   877
730
226fe5065cf2 Avoid warnings on some compilers.
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   878
    // type-cast to avoid warnings on some compilers
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   879
    if (!list_empty((struct list_head *) &slave->sdo_confs)) {
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   880
        buf += sprintf(buf, "SDO configurations:\n");
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   881
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   882
        list_for_each_entry(sdodata, &slave->sdo_confs, list) {
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   883
            switch (sdodata->size) {
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   884
                case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   885
                case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   886
                case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   887
                default: sprintf(str, "(invalid size)"); break;
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   888
            }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   889
            buf += sprintf(buf, "  0x%04X:%-3i -> %s\n",
763
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   890
                    sdodata->index, sdodata->subindex, str);
5e238783b71a Re-ordered slave info file.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   891
        }
772
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   892
        buf += sprintf(buf, "\n");
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   893
    }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   894
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   895
    size = buf - large_buffer;
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   896
    if (size >= PAGE_SIZE) {
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   897
        const char trunc[] = "\n---TRUNCATED---\n";
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   898
        unsigned int len = strlen(trunc);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   899
        memcpy(large_buffer + PAGE_SIZE - len, trunc, len);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   900
    }
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   901
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   902
    size = min(size, (unsigned int) PAGE_SIZE);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   903
    memcpy(buffer, large_buffer, size);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   904
    kfree(large_buffer);
6c29e74d6763 Detection of page exceeding slave information file.
Florian Pose <fp@igh-essen.com>
parents: 765
diff changeset
   905
    return size;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   906
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   907
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   908
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   909
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
   910
/**
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   911
 * Schedules an EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   912
 * \return 0 case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   913
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   914
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   915
int ec_slave_schedule_eeprom_writing(
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   916
        ec_eeprom_write_request_t *request /**< EEPROM write request */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   917
        )
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   918
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   919
    ec_master_t *master = request->slave->master;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   920
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   921
    request->state = EC_REQUEST_QUEUED;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   922
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   923
    // schedule EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   924
    down(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   925
    list_add_tail(&request->list, &master->eeprom_requests);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   926
    up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   927
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   928
    // wait for processing through FSM
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   929
    if (wait_event_interruptible(master->eeprom_queue,
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   930
                request->state != EC_REQUEST_QUEUED)) {
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   931
        // interrupted by signal
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   932
        down(&master->eeprom_sem);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   933
        if (request->state == EC_REQUEST_QUEUED) {
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   934
            list_del(&request->list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   935
            up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   936
            return -EINTR;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   937
        }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   938
        // request already processing: interrupt not possible.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   939
        up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   940
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   941
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   942
    // wait until master FSM has finished processing
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   943
    wait_event(master->eeprom_queue,
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   944
            request->state != EC_REQUEST_IN_PROGRESS);
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   945
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   946
    return request->state == EC_REQUEST_COMPLETE ? 0 : -EIO;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   947
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   948
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   949
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   950
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   951
/**
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   952
 * Calculates the EEPROM checksum field.
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   953
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   954
 * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   955
 * initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   956
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   957
 * The below code was originally generated with PYCRC
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   958
 * http://www.tty1.net/pycrc
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   959
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   960
 * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   961
 *   --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   962
 *
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   963
 * \return CRC8
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   964
 */
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   965
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   966
uint8_t ec_slave_eeprom_crc(
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   967
        const uint8_t *data, /**< pointer to data */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   968
        size_t length /**< number of bytes in \a data */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   969
        )
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   970
{
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   971
    unsigned int i;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   972
    uint8_t bit, byte, crc = 0x48;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   973
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   974
    while (length--) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   975
        byte = *data++;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   976
        for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   977
            bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   978
            crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   979
            if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   980
        }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   981
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   982
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   983
    for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   984
        bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   985
        crc <<= 1;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   986
        if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   987
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   988
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   989
    return crc;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   990
}
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   991
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   992
/*****************************************************************************/
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   993
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
   994
/**
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   995
 * Writes complete EEPROM contents to a slave.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   996
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   997
 */
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   998
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   999
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1000
        const uint8_t *data, /**< new EEPROM data */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1001
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1002
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1003
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1004
    ec_eeprom_write_request_t request;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1005
    const uint16_t *cat_header;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1006
    uint16_t cat_type, cat_size;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1007
    int ret;
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1008
    uint8_t crc;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1009
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1010
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
  1011
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1012
        return -EBUSY;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1013
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1014
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1015
    if (size % 2) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1016
        EC_ERR("EEPROM data size is odd! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1017
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1018
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1019
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1020
    // init EEPROM write request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1021
    INIT_LIST_HEAD(&request.list);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1022
    request.slave = slave;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1023
    request.data = data;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1024
    request.word_offset = 0;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1025
    request.word_size = size / 2;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1026
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1027
    if (request.word_size < 0x0041) {
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1028
        EC_ERR("EEPROM data too short! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1029
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1030
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1031
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1032
    // calculate checksum
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1033
    crc = ec_slave_eeprom_crc(data, 14); // CRC over words 0 to 6
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1034
    if (crc != data[14]) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1035
        EC_WARN("EEPROM CRC incorrect. Must be 0x%02x.\n", crc);
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1036
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1037
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1038
    cat_header = (const uint16_t *) request.data
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1039
		+ EC_FIRST_EEPROM_CATEGORY_OFFSET;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1040
    cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1041
    while (cat_type != 0xFFFF) { // cycle through categories
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1042
        if (cat_header + 1 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1043
				(const uint16_t *) request.data + request.word_size) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1044
            EC_ERR("EEPROM data corrupted! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1045
            return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1046
        }
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1047
        cat_size = EC_READ_U16(cat_header + 1);
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1048
        if (cat_header + cat_size + 2 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1049
				(const uint16_t *) request.data + request.word_size) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1050
            EC_ERR("EEPROM data corrupted! Dropping.\n");
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1051
            return -EINVAL;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1052
        }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1053
        cat_header += cat_size + 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1054
        cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1055
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
  1056
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1057
    // EEPROM data ok. schedule writing.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1058
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1059
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1060
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1061
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1062
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1063
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1064
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1065
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1066
/**
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1067
 * Writes the Secondary slave address (alias) to the slave's EEPROM.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1068
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1069
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1070
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1071
ssize_t ec_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1072
        const uint8_t *data, /**< alias string */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1073
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1074
        )
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1075
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1076
    ec_eeprom_write_request_t request;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1077
    char *remainder;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1078
    uint16_t alias;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1079
    int ret;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1080
    uint8_t eeprom_data[16], crc;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1081
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1082
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1083
        EC_ERR("Writing to EEPROM is only allowed in idle mode!\n");
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1084
        return -EBUSY;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1085
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1086
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1087
    alias = simple_strtoul(data, &remainder, 0);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1088
    if (remainder == (char *) data || (*remainder && *remainder != '\n')) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1089
        EC_ERR("Invalid alias value! Dropping.\n");
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1090
        return -EINVAL;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1091
    }
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1092
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1093
    if (!slave->eeprom_data || slave->eeprom_size < 16) {
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1094
        EC_ERR("Failed to read EEPROM contents from slave %u.\n",
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1095
                slave->ring_position);
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1096
        return -EINVAL;
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1097
    }
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1098
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1099
    // copy first 7 words of recent EEPROM contents
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1100
    memcpy(eeprom_data, slave->eeprom_data, 14);
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1101
    
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1102
    // write new alias address in word 4
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1103
    EC_WRITE_U16(eeprom_data + 8, alias);
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1104
0773628aabab Calculate checksum when writing EEPROM or alias address.
Florian Pose <fp@igh-essen.com>
parents: 730
diff changeset
  1105
    // calculate new checksum over words 0 to 6
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1106
    crc = ec_slave_eeprom_crc(eeprom_data, 14);
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1107
    EC_WRITE_U16(eeprom_data + 14, crc);
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1108
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1109
    // init EEPROM write request
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1110
    INIT_LIST_HEAD(&request.list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1111
    request.slave = slave;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1112
    request.data = eeprom_data;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1113
    request.word_offset = 0x0000;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 750
diff changeset
  1114
    request.word_size = 8;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1115
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1116
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1117
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1118
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1119
    slave->sii_alias = alias; // FIXME: do this in state machine
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1120
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1121
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1122
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1123
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1124
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1125
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1126
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1127
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1128
   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
  1129
   \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
  1130
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1131
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1132
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
  1133
                                struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1134
                                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
  1135
                                )
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1136
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1137
    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
  1138
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1139
    if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1140
        return ec_slave_info(slave, buffer);
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1141
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1142
    else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1143
        switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1144
            case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1145
                return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1146
            case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1147
                return sprintf(buffer, "PREOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1148
            case EC_SLAVE_STATE_SAVEOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1149
                return sprintf(buffer, "SAVEOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1150
            case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1151
                return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1152
            default:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1153
                return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1154
        }
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1155
    }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1156
    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
  1157
        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
  1158
            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
  1159
                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
  1160
                       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
  1161
                       (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
  1162
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1163
            else {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1164
                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
  1165
                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
  1166
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1167
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1168
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1169
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1170
        return sprintf(buffer, "%u\n", slave->sii_alias);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1171
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1172
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1173
    return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1174
}
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1175
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1176
/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1177
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1178
/**
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1179
   Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1180
   \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
  1181
*/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1182
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1183
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
  1184
                                 struct attribute *attr, /**< attribute */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1185
                                 const char *buffer, /**< memory with data */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1186
                                 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
  1187
                                 )
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1188
{
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1189
    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
  1190
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1191
    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
  1192
        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
  1193
        if (!strcmp(buffer, "INIT\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1194
            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
  1195
        else if (!strcmp(buffer, "PREOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1196
            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
  1197
        else if (!strcmp(buffer, "SAVEOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1198
            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
  1199
        else if (!strcmp(buffer, "OP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1200
            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
  1201
        else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1202
            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
  1203
            return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1204
        }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1205
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1206
        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
  1207
        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
  1208
                state, slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1209
        return size;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1210
    }
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1211
    else if (attr == &attr_eeprom) {
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1212
        return ec_slave_write_eeprom(slave, buffer, size);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1213
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1214
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1215
        return ec_slave_write_alias(slave, buffer, size);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1216
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1217
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1218
    return -EIO;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1219
}
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1220
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1221
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1222
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1223
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1224
 * Get the sync manager for either Rx- or Tx-PDOs.
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1225
 * \return pointer to sync manager, or NULL.
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1226
 */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1227
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
  1228
ec_sync_t *ec_slave_get_pdo_sync(
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1229
        ec_slave_t *slave, /**< EtherCAT slave */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1230
        ec_direction_t dir /**< input or output */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1231
        )
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1232
{
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1233
    unsigned int sync_index;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1234
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1235
    if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1236
        EC_ERR("Invalid direction!\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1237
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1238
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1239
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1240
    sync_index = (unsigned int) dir;
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1241
    if (slave->sii_mailbox_protocols) sync_index += 2;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1242
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1243
    if (sync_index >= slave->sii_sync_count)
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1244
        return NULL;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1245
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1246
    return &slave->sii_syncs[sync_index];
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1247
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1248
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1249
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1250
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1251
/**
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1252
   \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
  1253
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1254
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1255
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
  1256
                      uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1257
                      uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1258
                      const uint8_t *data, /**< SDO data */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1259
                      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
  1260
                      )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1261
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1262
    ec_sdo_data_t *sdodata;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1263
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1264
    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
  1265
        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
  1266
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1267
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1268
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1269
    if (!(sdodata = (ec_sdo_data_t *)
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1270
          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
  1271
        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
  1272
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1273
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1274
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1275
    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
  1276
        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
  1277
        kfree(sdodata);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1278
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1279
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1280
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1281
    sdodata->index = sdo_index;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1282
    sdodata->subindex = sdo_subindex;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1283
    memcpy(sdodata->data, data, size);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1284
    sdodata->size = size;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1285
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1286
    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
  1287
    return 0;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1288
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1289
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1290
/*****************************************************************************/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1291
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1292
/**
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1293
   \return 0 in case of success, else < 0
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1294
*/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1295
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1296
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
  1297
                      uint32_t vendor_id, /**< vendor ID */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1298
                      uint32_t product_code /**< product code */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1299
                      )
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1300
{
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1301
    if (vendor_id != slave->sii_vendor_id ||
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1302
        product_code != slave->sii_product_code) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1303
        EC_ERR("Invalid slave type at position %i:\n", slave->ring_position);
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1304
        EC_ERR("  Requested: 0x%08X 0x%08X\n", vendor_id, product_code);
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1305
        EC_ERR("      Found: 0x%08X 0x%08X\n",
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1306
                slave->sii_vendor_id, slave->sii_product_code);
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1307
        return -1;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1308
    }
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1309
    return 0;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1310
}
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1311
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1312
/*****************************************************************************/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1313
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1314
/**
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1315
   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
  1316
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1317
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1318
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
  1319
                            unsigned int *sdo_count, /**< number of SDOs */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1320
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1321
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1322
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1323
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1324
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1325
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1326
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1327
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1328
    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
  1329
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1330
        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
  1331
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1332
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1333
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1334
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1335
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1336
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1337
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1338
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1339
/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1340
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1341
/**
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1342
 * Get an SDO from the dictionary.
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1343
 * \returns The desired SDO, of NULL.
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1344
 */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1345
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1346
ec_sdo_t *ec_slave_get_sdo(
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1347
        ec_slave_t *slave /**< EtherCAT slave */,
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1348
        uint16_t index /**< SDO index */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1349
        )
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1350
{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1351
    ec_sdo_t *sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1352
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1353
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1354
        if (sdo->index != index) continue;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1355
        return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1356
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1357
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1358
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1359
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
  1360
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1361
/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1362
 *  Realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1363
 *****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1364
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1365
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1366
   \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
  1367
   \ingroup RealtimeInterface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1368
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1369
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1370
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
  1371
                         uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1372
                         uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1373
                         uint8_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1374
                         )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1375
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1376
    uint8_t data[1];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1377
    EC_WRITE_U8(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1378
    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
  1379
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1380
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1381
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1382
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1383
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1384
   \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
  1385
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1386
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1387
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1388
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
  1389
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1390
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1391
                          uint16_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1392
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1393
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1394
    uint8_t data[2];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1395
    EC_WRITE_U16(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1396
    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
  1397
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1398
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1399
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1400
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1401
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1402
   \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
  1403
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1404
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1405
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1406
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
  1407
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1408
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1409
                          uint32_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1410
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1411
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1412
    uint8_t data[4];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1413
    EC_WRITE_U32(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1414
    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
  1415
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1416
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1417
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1418
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1419
/**
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1420
 * Clear slave's PDO mapping.
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1421
 */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1422
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1423
void ecrt_slave_pdo_mapping_clear(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1424
        ec_slave_t *slave, /**< EtherCAT slave */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1425
        ec_direction_t dir /**< output/input */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1426
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1427
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1428
    ec_sync_t *sync;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1429
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1430
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1431
        EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1432
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1433
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1434
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1435
    if (!(sync = ec_slave_get_pdo_sync(slave, dir)))
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1436
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1437
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1438
    ec_sync_clear_pdos(sync);
745
3f4e5a50733e Minor: Moved setting of alternate PDO mapping flag.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
  1439
    sync->alt_mapping = 1;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1440
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1441
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1442
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1443
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1444
/**
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1445
 * Add a PDO to the list of known mapped PDOs.
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1446
 */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1447
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1448
int ecrt_slave_pdo_mapping_add(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1449
        ec_slave_t *slave, /**< EtherCAT slave */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1450
        ec_direction_t dir, /**< input/output */
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1451
        uint16_t pdo_index /**< Index of mapped PDO */)
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1452
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1453
    ec_pdo_t *pdo;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1454
    ec_sync_t *sync;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1455
    unsigned int not_found = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1456
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1457
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1458
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1459
        return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1460
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1461
747
ac8a822c3e5b Minor comment change.
Florian Pose <fp@igh-essen.com>
parents: 746
diff changeset
  1462
    // does the slave provide the PDO?
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1463
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1464
        if (pdo->index == pdo_index) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1465
            not_found = 0;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1466
            break;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1467
        }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1468
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1469
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1470
    if (not_found) {
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1471
        EC_ERR("Slave %u does not provide PDO 0x%04X!\n",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1472
                slave->ring_position, pdo_index);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1473
        return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1474
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1475
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1476
    // check direction
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1477
    if ((pdo->type == EC_TX_PDO && dir == EC_DIR_OUTPUT) ||
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1478
            (pdo->type == EC_RX_PDO && dir == EC_DIR_INPUT)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1479
        EC_ERR("Invalid direction for PDO 0x%04X.\n", pdo_index);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1480
        return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1481
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1482
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1483
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1484
    if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1485
        EC_ERR("Failed to obtain sync manager for PDO mapping of slave %u!\n",
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1486
                slave->ring_position);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1487
        return -1;
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1488
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1489
746
ef0f6eb5cd7c Minor: Again moved setting of alternate PDO mapping flag.
Florian Pose <fp@igh-essen.com>
parents: 745
diff changeset
  1490
    if (ec_sync_add_pdo(sync, pdo))
ef0f6eb5cd7c Minor: Again moved setting of alternate PDO mapping flag.
Florian Pose <fp@igh-essen.com>
parents: 745
diff changeset
  1491
        return -1;
ef0f6eb5cd7c Minor: Again moved setting of alternate PDO mapping flag.
Florian Pose <fp@igh-essen.com>
parents: 745
diff changeset
  1492
ef0f6eb5cd7c Minor: Again moved setting of alternate PDO mapping flag.
Florian Pose <fp@igh-essen.com>
parents: 745
diff changeset
  1493
    sync->alt_mapping = 1;
ef0f6eb5cd7c Minor: Again moved setting of alternate PDO mapping flag.
Florian Pose <fp@igh-essen.com>
parents: 745
diff changeset
  1494
    return 0;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1495
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1496
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1497
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1498
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1499
/**
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1500
 * Convenience function for ecrt_slave_pdo_mapping_clear() and
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1501
 * ecrt_slave_pdo_mapping_add().
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1502
 */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
  1503
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1504
int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1505
        ec_direction_t dir, /**< input/output */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1506
        unsigned int num_args, /**< Number of following arguments */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1507
        ... /**< PDO indices to map */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1508
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1509
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1510
    va_list ap;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1511
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1512
    ecrt_slave_pdo_mapping_clear(slave, dir);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1513
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1514
    va_start(ap, num_args);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1515
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1516
    for (; num_args; num_args--) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1517
        if (ecrt_slave_pdo_mapping_add(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1518
                    slave, dir, (uint16_t) va_arg(ap, int))) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1519
            return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1520
        }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1521
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1522
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1523
    va_end(ap);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1524
    return 0;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1525
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1526
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1527
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1528
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1529
526
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1530
/** \cond */
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
  1531
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1532
EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1533
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1534
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1535
EXPORT_SYMBOL(ecrt_slave_pdo_mapping_clear);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1536
EXPORT_SYMBOL(ecrt_slave_pdo_mapping_add);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1537
EXPORT_SYMBOL(ecrt_slave_pdo_mapping);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1538
526
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1539
/** \endcond */
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1540
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1541
/*****************************************************************************/