etherlabmaster: master/slave.c@8ae1e011e96c (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	3	* s l a v e . c
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	5	* Methoden für einen EtherCAT-Slave.
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	7	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	9	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	10
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	11	#include <linux/module.h>
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	12	#include <linux/delay.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	13
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	14	#include "globals.h"
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	15	#include "slave.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	16	#include "command.h"
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	17	#include "master.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	18
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	19	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	20
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	21	int ec_slave_fetch_categories(ec_slave_t *);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	22	int ec_slave_fetch_strings(ec_slave_t , const uint8_t );
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	23	int ec_slave_fetch_general(ec_slave_t , const uint8_t );
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	24	int ec_slave_fetch_sync(ec_slave_t , const uint8_t , size_t);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	25	int ec_slave_fetch_pdo(ec_slave_t , const uint8_t , size_t, ec_pdo_type_t);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	26	int ec_slave_locate_string(ec_slave_t , unsigned int, char *);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	27	ssize_t ec_show_slave_attribute(struct kobject , struct attribute , char *);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	28
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	29	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	30
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	31	static struct attribute attr_ring_position = {
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	32	.name = "ring_position", .owner = THIS_MODULE, .mode = S_IRUGO
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	33	};
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	34
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	35	static struct attribute attr_station_address = {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	36	.name = "station_address", .owner = THIS_MODULE, .mode = S_IRUGO
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	37	};
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	38
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	39	static struct attribute attr_vendor_name = {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	40	.name = "vendor_name", .owner = THIS_MODULE, .mode = S_IRUGO
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	41	};
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	42
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	43	static struct attribute attr_product_name = {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	44	.name = "product_name", .owner = THIS_MODULE, .mode = S_IRUGO
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	45	};
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	46
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	47	static struct attribute attr_product_desc = {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	48	.name = "product_description", .owner = THIS_MODULE, .mode = S_IRUGO
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	49	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	50
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	51	static struct attribute *def_attrs[] = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	52	&attr_ring_position,
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	53	&attr_station_address,
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	54	&attr_vendor_name,
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	55	&attr_product_name,
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	56	&attr_product_desc,
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	57	NULL,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	58	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	59
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	60	static struct sysfs_ops sysfs_ops = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	61	.show = &ec_show_slave_attribute,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	62	.store = NULL
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	63	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	64
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	65	static struct kobj_type ktype_ec_slave = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	66	.release = ec_slave_clear,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	67	.sysfs_ops = &sysfs_ops,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	68	.default_attrs = def_attrs
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	69	};
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	70
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	71	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	72
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	73	const ec_code_msg_t al_status_messages[];
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	74
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	75	/*****************************************************************************/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	76
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	77	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	78	EtherCAT-Slave-Konstruktor.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	79	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	80
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	81	int ec_slave_init(ec_slave_t slave, /< EtherCAT-Slave /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	82	ec_master_t master, /< EtherCAT-Master /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	83	uint16_t ring_position, /*< Ringposition /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	84	uint16_t station_address /*< Programmierte Adresse /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	85	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	86	{
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	87	unsigned int i;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	88
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	89	slave->ring_position = ring_position;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	90	slave->station_address = station_address;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	91
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	92	// Init kobject and add it to the hierarchy
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	93	memset(&slave->kobj, 0x00, sizeof(struct kobject));
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	94	kobject_init(&slave->kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	95	slave->kobj.ktype = &ktype_ec_slave;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	96	slave->kobj.parent = &master->kobj;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	97	if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	98	EC_ERR("Failed to set kobject name.\n");
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	99	kobject_put(&slave->kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	100	return -1;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	101	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	102
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	103	slave->master = master;
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	104	slave->buscoupler_index = 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	105	slave->index_after_buscoupler = 0xFFFF;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	106	slave->base_type = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	107	slave->base_revision = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	108	slave->base_build = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	109	slave->base_fmmu_count = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	110	slave->base_sync_count = 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	111	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	112	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	113	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	114	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	115	slave->sii_serial_number = 0;
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	116	slave->sii_rx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	117	slave->sii_rx_mailbox_size = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	118	slave->sii_tx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	119	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	120	slave->sii_mailbox_protocols = 0;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	121	slave->type = NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	122	slave->registered = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	123	slave->fmmu_count = 0;
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	124	slave->eeprom_name = NULL;
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	125	slave->eeprom_group = NULL;
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	126	slave->eeprom_desc = NULL;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	127
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	128	ec_command_init(&slave->mbox_command);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	129
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	130	INIT_LIST_HEAD(&slave->eeprom_strings);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	131	INIT_LIST_HEAD(&slave->eeprom_syncs);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	132	INIT_LIST_HEAD(&slave->eeprom_pdos);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	133	INIT_LIST_HEAD(&slave->sdo_dictionary);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	134
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	135	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	136	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	137	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	138	slave->dl_signal[i] = 0;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	139	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	140
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	141	return 0;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	142	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	143
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	144	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	145
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	146	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	147	EtherCAT-Slave-Destruktor.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	148	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	149
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	150	void ec_slave_clear(struct kobject kobj /< KObject des Slaves /)
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	151	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	152	ec_slave_t *slave;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	153	ec_eeprom_string_t string, next_str;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	154	ec_eeprom_sync_t sync, next_sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	155	ec_eeprom_pdo_t pdo, next_pdo;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	156	ec_eeprom_pdo_entry_t entry, next_ent;
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	157	ec_sdo_t sdo, next_sdo;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	158	ec_sdo_entry_t en, next_en;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	159
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	160	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	161
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	162	// Alle Strings freigeben
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	163	list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	164	list_del(&string->list);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	165	kfree(string);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	166	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	167
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	168	// Alle Sync-Manager freigeben
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	169	list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	170	list_del(&sync->list);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	171	kfree(sync);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	172	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	173
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	174	// Alle PDOs freigeben
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	175	list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	176	list_del(&pdo->list);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	177	if (pdo->name) kfree(pdo->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	178
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	179	// Alle Entries innerhalb eines PDOs freigeben
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	180	list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	181	list_del(&entry->list);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	182	if (entry->name) kfree(entry->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	183	kfree(entry);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	184	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	185
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	186	kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	187	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	188
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	189	if (slave->eeprom_name) kfree(slave->eeprom_name);
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	190	if (slave->eeprom_group) kfree(slave->eeprom_group);
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	191	if (slave->eeprom_desc) kfree(slave->eeprom_desc);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	192
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	193	// Alle SDOs freigeben
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	194	list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	195	list_del(&sdo->list);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	196	if (sdo->name) kfree(sdo->name);
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 160 diff changeset	197
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	198	// Alle Entries freigeben
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	199	list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	200	list_del(&en->list);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	201	kfree(en);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	202	}
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	203	kfree(sdo);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	204	}
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	205
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	206	ec_command_clear(&slave->mbox_command);
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	207	}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	208
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	209	/*****************************************************************************/
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	210
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	211	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	212	Liest alle benötigten Informationen aus einem Slave.
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	213
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	214	\return 0 wenn alles ok, < 0 bei Fehler.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	215	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	216
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	217	int ec_slave_fetch(ec_slave_t slave /< EtherCAT-Slave /)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	218	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	219	ec_command_t *command;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	220	unsigned int i;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	221	uint16_t dl_status;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	222
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	223	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	224
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	225	// Read base data
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	226	if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	227	if (unlikely(ec_master_simple_io(slave->master, command))) {
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	228	EC_ERR("Reading base data from slave %i failed!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	229	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	230	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	231	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	232
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	233	slave->base_type = EC_READ_U8 (command->data);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	234	slave->base_revision = EC_READ_U8 (command->data + 1);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	235	slave->base_build = EC_READ_U16(command->data + 2);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	236	slave->base_fmmu_count = EC_READ_U8 (command->data + 4);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	237	slave->base_sync_count = EC_READ_U8 (command->data + 5);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	238
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	239	if (slave->base_fmmu_count > EC_MAX_FMMUS)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	240	slave->base_fmmu_count = EC_MAX_FMMUS;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	241
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	242	// Read DL status
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	243	if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	244	if (unlikely(ec_master_simple_io(slave->master, command))) {
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	245	EC_ERR("Reading DL status from slave %i failed!\n",
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	246	slave->ring_position);
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	247	return -1;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	248	}
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	249
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	250	dl_status = EC_READ_U16(command->data);
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	251	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	252	slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	253	slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	254	slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	255	}
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	256
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	257	// Read EEPROM data
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	258	if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	259	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	260	if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	261	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	262	if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	263	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	264	if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	265	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	266	if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	267	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	268	if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	269	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	270	if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	271	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	272	if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	273	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	274	if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	275	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	276	if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	277	return -1;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 132 diff changeset	278
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	279	if (unlikely(ec_slave_fetch_categories(slave))) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	280	EC_ERR("Failed to fetch category data!\n");
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	281	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	282	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	283
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	284	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	285	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	286
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	287	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	288
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	289	/**
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	290	Liest 16 Bit aus dem Slave-Information-Interface
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	291	eines EtherCAT-Slaves.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	292
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	293	\return 0 bei Erfolg, sonst < 0
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	294	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	295
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	296	int ec_slave_sii_read16(ec_slave_t *slave,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	297	/*< EtherCAT-Slave /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	298	uint16_t offset,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	299	/*< Adresse des zu lesenden SII-Registers /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	300	uint16_t *target
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	301	/*< Speicher für Wert (16-Bit) /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	302	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	303	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	304	ec_command_t *command;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	305	cycles_t start, end, timeout;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	306
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	307	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	308
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	309	// Initiate read operation
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	310	if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	311	EC_WRITE_U8 (command->data, 0x00); // read-only access
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	312	EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	313	EC_WRITE_U32(command->data + 2, offset);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	314	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	315	EC_ERR("SII-read failed on slave %i!\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	316	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	317	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	318
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	319	// Der Slave legt die Informationen des Slave-Information-Interface
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	320	// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	321	// den Status auslesen, bis das Bit weg ist.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	322
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	323	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	324	timeout = (cycles_t) 100 * cpu_khz; // 100ms
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	325
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	326	while (1)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	327	{
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	328	udelay(10);
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	329
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	330	if (ec_command_nprd(command, slave->station_address, 0x502, 10))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	331	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	332	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	333	EC_ERR("Getting SII-read status failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	334	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	335	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	336	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	337
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	338	end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	339
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	340	if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	341	*target = EC_READ_U16(command->data + 6);
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	342	return 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	343	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	344
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	345	if (unlikely((end - start) >= timeout)) {
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	346	EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	347	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	348	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	349	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	350	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	351
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	352	/*****************************************************************************/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	353
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	354	/**
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	355	Liest 32 Bit aus dem Slave-Information-Interface
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	356	eines EtherCAT-Slaves.
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	357
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	358	\return 0 bei Erfolg, sonst < 0
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	359	*/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	360
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	361	int ec_slave_sii_read32(ec_slave_t *slave,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	362	/*< EtherCAT-Slave /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	363	uint16_t offset,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	364	/*< Adresse des zu lesenden SII-Registers /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	365	uint32_t *target
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	366	/*< Speicher für Wert (32-Bit) /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	367	)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	368	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	369	ec_command_t *command;
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	370	cycles_t start, end, timeout;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	371
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	372	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	373
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	374	// Initiate read operation
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	375	if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	376	EC_WRITE_U8 (command->data, 0x00); // read-only access
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	377	EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	378	EC_WRITE_U32(command->data + 2, offset);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	379	if (unlikely(ec_master_simple_io(slave->master, command))) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	380	EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	381	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	382	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	383
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	384	// Der Slave legt die Informationen des Slave-Information-Interface
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	385	// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	386	// den Status auslesen, bis das Bit weg ist.
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	387
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	388	start = get_cycles();
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	389	timeout = (cycles_t) 100 * cpu_khz; // 100ms
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	390
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	391	while (1)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	392	{
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	393	udelay(10);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	394
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	395	if (ec_command_nprd(command, slave->station_address, 0x502, 10))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	396	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	397	if (unlikely(ec_master_simple_io(slave->master, command))) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	398	EC_ERR("Getting SII-read status failed on slave %i!\n",
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	399	slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	400	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	401	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	402
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	403	end = get_cycles();
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	404
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	405	if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	406	*target = EC_READ_U32(command->data + 6);
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	407	return 0;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	408	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	409
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	410	if (unlikely((end - start) >= timeout)) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	411	EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	412	return -1;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	413	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	414	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	415	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	416
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	417	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	418
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	419	/**
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	420	Schreibt 16 Bit Daten in das Slave-Information-Interface
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	421	eines EtherCAT-Slaves.
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	422
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	423	\return 0 bei Erfolg, sonst < 0
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	424	*/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	425
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	426	int ec_slave_sii_write16(ec_slave_t *slave,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	427	/*< EtherCAT-Slave /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	428	uint16_t offset,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	429	/*< Adresse des zu lesenden SII-Registers /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	430	uint16_t value
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	431	/*< Zu schreibender Wert /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	432	)
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	433	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	434	ec_command_t *command;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	435	cycles_t start, end, timeout;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	436
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	437	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	438
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	439	EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	440	slave->ring_position, offset, value);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	441
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	442	// Initiate write operation
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	443	if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	444	EC_WRITE_U8 (command->data, 0x01); // enable write access
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	445	EC_WRITE_U8 (command->data + 1, 0x02); // request write operation
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	446	EC_WRITE_U32(command->data + 2, offset);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	447	EC_WRITE_U16(command->data + 6, value);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	448	if (unlikely(ec_master_simple_io(slave->master, command))) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	449	EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	450	return -1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	451	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	452
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	453	// Der Slave legt die Informationen des Slave-Information-Interface
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	454	// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	455	// den Status auslesen, bis das Bit weg ist.
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	456
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	457	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	458	timeout = (cycles_t) 100 * cpu_khz; // 100ms
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	459
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	460	while (1)
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	461	{
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	462	udelay(10);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	463
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	464	if (ec_command_nprd(command, slave->station_address, 0x502, 2))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	465	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	466	if (unlikely(ec_master_simple_io(slave->master, command))) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	467	EC_ERR("Getting SII-write status failed on slave %i!\n",
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	468	slave->ring_position);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	469	return -1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	470	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	471
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	472	end = get_cycles();
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	473
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	474	if (likely((EC_READ_U8(command->data + 1) & 0x82) == 0)) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	475	if (EC_READ_U8(command->data + 1) & 0x40) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	476	EC_ERR("SII-write failed!\n");
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	477	return -1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	478	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	479	else {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	480	EC_INFO("SII-write succeeded!\n");
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	481	return 0;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	482	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	483	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	484
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	485	if (unlikely((end - start) >= timeout)) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	486	EC_ERR("SII-write: Slave %i timed out!\n", slave->ring_position);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	487	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	488	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	489	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	490	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	491
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	492	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	493
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	494	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	495	Holt Daten aus dem EEPROM.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	496
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	497	\return 0, wenn alles ok, sonst < 0
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	498	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	499
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	500	int ec_slave_fetch_categories(ec_slave_t slave /< EtherCAT-Slave /)
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	501	{
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	502	uint16_t word_offset, cat_type, word_count;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	503	uint32_t value;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	504	uint8_t *cat_data;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	505	unsigned int i;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	506
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	507	word_offset = 0x0040;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	508
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	509	if (!(cat_data = (uint8_t *) kmalloc(0x10000, GFP_KERNEL))) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	510	EC_ERR("Failed to allocate 64k bytes for category data.\n");
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	511	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	512	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	513
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	514	while (1) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	515	// read category type
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	516	if (ec_slave_sii_read32(slave, word_offset, &value)) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	517	EC_ERR("Unable to read category header.\n");
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	518	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	519	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	520
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	521	// Last category?
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	522	if ((value & 0xFFFF) == 0xFFFF) break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	523
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	524	cat_type = value & 0x7FFF;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	525	word_count = (value >> 16) & 0xFFFF;
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	// Fetch category data
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	528	for (i = 0; i < word_count; i++) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	529	if (ec_slave_sii_read32(slave, word_offset + 2 + i, &value)) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	530	EC_ERR("Unable to read category data word %i.\n", i);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	531	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	532	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	533
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	534	cat_data[i * 2] = (value >> 0) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	535	cat_data[i * 2 + 1] = (value >> 8) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	536
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	537	// read second word "on the fly"
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	538	if (i + 1 < word_count) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	539	i++;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	540	cat_data[i * 2] = (value >> 16) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	541	cat_data[i * 2 + 1] = (value >> 24) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	542	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	543	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	544
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	545	switch (cat_type)
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	546	{
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	547	case 0x000A:
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	548	if (ec_slave_fetch_strings(slave, cat_data))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	549	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	550	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	551	case 0x001E:
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	552	if (ec_slave_fetch_general(slave, cat_data))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	553	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	554	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	555	case 0x0028:
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	556	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	557	case 0x0029:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	558	if (ec_slave_fetch_sync(slave, cat_data, word_count))
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	559	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	560	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	561	case 0x0032:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	562	if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_TX_PDO))
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	563	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	564	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	565	case 0x0033:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	566	if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_RX_PDO))
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	567	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	568	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	569	default:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	570	EC_WARN("Unknown category type 0x%04X in slave %i.\n",
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	571	cat_type, slave->ring_position);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	572	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	573
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	574	word_offset += 2 + word_count;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	575	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	576
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	577	kfree(cat_data);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	578	return 0;
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	579
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	580	out_free:
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	581	kfree(cat_data);
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	582	return -1;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	583	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	584
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	585	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	586
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	587	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	588	Holt die Daten einer String-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	589
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	590	\return 0 wenn alles ok, sonst < 0
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	591	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	592
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	593	int ec_slave_fetch_strings(ec_slave_t slave, /< EtherCAT-Slave /
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	594	const uint8_t data /< Kategoriedaten /
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	595	)
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	596	{
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	597	unsigned int string_count, i;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	598	size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	599	off_t offset;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	600	ec_eeprom_string_t *string;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	601
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	602	string_count = data[0];
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	603	offset = 1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	604	for (i = 0; i < string_count; i++) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	605	size = data[offset];
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	606	// Speicher für String-Objekt und Daten in einem Rutsch allozieren
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	607	if (!(string = (ec_eeprom_string_t *)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	608	kmalloc(sizeof(ec_eeprom_string_t) + size + 1, GFP_KERNEL))) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	609	EC_ERR("Failed to allocate string memory.\n");
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	610	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	611	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	612	string->size = size;
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 160 diff changeset	613	// string memory appended to string structure
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	614	string->data = (char *) string + sizeof(ec_eeprom_string_t);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	615	memcpy(string->data, data + offset + 1, size);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	616	string->data[size] = 0x00;
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	617	list_add_tail(&string->list, &slave->eeprom_strings);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	618	offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	619	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	620
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	621	return 0;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	622	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	623
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	624	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	625
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	626	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	627	Holt die Daten einer General-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	628	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	629
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	630	int ec_slave_fetch_general(ec_slave_t slave, /< EtherCAT-Slave /
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	631	const uint8_t data /< Kategorie-Daten /
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	if (ec_slave_locate_string(slave, data[0], &slave->eeprom_group))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	635	return -1;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	636	if (ec_slave_locate_string(slave, data[1], &slave->eeprom_name))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	637	return -1;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	638	if (ec_slave_locate_string(slave, data[3], &slave->eeprom_desc))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	639	return -1;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	640
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	641	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	642	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	643
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	644	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	645
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	646	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	647	Holt die Daten einer Sync-Manager-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	648	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	649
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	650	int ec_slave_fetch_sync(ec_slave_t slave, /< EtherCAT-Slave /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	651	const uint8_t data, /< Kategorie-Daten /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	652	size_t word_count /*< Anzahl Words /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	653	)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	654	{
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	655	unsigned int sync_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	656	ec_eeprom_sync_t *sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	657
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	658	sync_count = word_count / 4; // Sync-Manager-Strunktur ist 4 Worte lang
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	659
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	660	for (i = 0; i < sync_count; i++, data += 8) {
127 e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	661	if (!(sync = (ec_eeprom_sync_t *)
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	662	kmalloc(sizeof(ec_eeprom_sync_t), GFP_KERNEL))) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	663	EC_ERR("Failed to allocate Sync-Manager memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	664	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	665	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	666
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	667	sync->index = i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	668	sync->physical_start_address = ((uint16_t ) (data + 0));
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	669	sync->length = ((uint16_t ) (data + 2));
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	670	sync->control_register = data[4];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	671	sync->enable = data[6];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	672
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	673	list_add_tail(&sync->list, &slave->eeprom_syncs);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	674	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	675
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	676	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	677	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	678
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	679	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	680
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	681	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	682	Holt die Daten einer TXPDO-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	683	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	684
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	685	int ec_slave_fetch_pdo(ec_slave_t slave, /< EtherCAT-Slave /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	686	const uint8_t data, /< Kategorie-Daten /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	687	size_t word_count, /*< Anzahl Worte /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	688	ec_pdo_type_t pdo_type /*< PDO-Typ /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	689	)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	690	{
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	691	ec_eeprom_pdo_t *pdo;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	692	ec_eeprom_pdo_entry_t *entry;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	693	unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	694
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	695	while (word_count >= 4) {
127 e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	696	if (!(pdo = (ec_eeprom_pdo_t *)
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	697	kmalloc(sizeof(ec_eeprom_pdo_t), GFP_KERNEL))) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	698	EC_ERR("Failed to allocate PDO memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	699	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	700	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	701
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	702	INIT_LIST_HEAD(&pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	703	pdo->type = pdo_type;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	704
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	705	pdo->index = ((uint16_t ) data);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	706	entry_count = data[2];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	707	pdo->sync_manager = data[3];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	708	pdo->name = NULL;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	709	ec_slave_locate_string(slave, data[5], &pdo->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	710
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	711	list_add_tail(&pdo->list, &slave->eeprom_pdos);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	712
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	713	word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	714	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	715
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	716	for (i = 0; i < entry_count; i++) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	717	if (!(entry = (ec_eeprom_pdo_entry_t *)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	718	kmalloc(sizeof(ec_eeprom_pdo_entry_t), GFP_KERNEL))) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	719	EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	720	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	721	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	722
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	723	entry->index = ((uint16_t ) data);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	724	entry->subindex = data[2];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	725	entry->name = NULL;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	726	ec_slave_locate_string(slave, data[3], &entry->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	727	entry->bit_length = data[5];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	728
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	729	list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	730
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	731	word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	732	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	733	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	734	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	735
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	736	return 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	737	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	738
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	739	/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	740
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	741	/**
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	742	Durchsucht die temporären Strings und dupliziert den gefundenen String.
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	743	*/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	744
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	745	int ec_slave_locate_string(ec_slave_t slave, unsigned int index, char *ptr)
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	746	{
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	747	ec_eeprom_string_t *string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	748	char *err_string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	749
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	750	// Erst alten Speicher freigeben
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	751	if (*ptr) {
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	752	kfree(*ptr);
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	753	*ptr = NULL;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	754	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	755
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	756	// Index 0 bedeutet "nicht belegt"
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	757	if (!index) return 0;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	758
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	759	// EEPROM-String mit Index finden und kopieren
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	760	list_for_each_entry(string, &slave->eeprom_strings, list) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	761	if (--index) continue;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	762
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	763	if (!(ptr = (char ) kmalloc(string->size + 1, GFP_KERNEL))) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	764	EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	765	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	766	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	767	memcpy(*ptr, string->data, string->size + 1);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	768	return 0;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	769	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	770
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	771	EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	772
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	773	err_string = "(string not found)";
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	774
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	775	if (!(ptr = (char ) kmalloc(strlen(err_string) + 1, GFP_KERNEL))) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	776	EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	777	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	778	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	779
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	780	memcpy(*ptr, err_string, strlen(err_string) + 1);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	781	return 0;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	782	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	783
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	784	/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	785
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	786	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	787	Bestätigt einen Fehler beim Zustandswechsel.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	788	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	789
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	790	void ec_slave_state_ack(ec_slave_t *slave,
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	791	/*< Slave, dessen Zustand geändert werden soll /
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	792	uint8_t state
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	793	/*< Alter Zustand /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	794	)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	795	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	796	ec_command_t *command;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	797	cycles_t start, end, timeout;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	798
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	799	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	800
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	801	if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	802	EC_WRITE_U16(command->data, state \| EC_ACK);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	803	if (unlikely(ec_master_simple_io(slave->master, command))) {
163 a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	804	EC_WARN("Acknowledge sending failed on slave %i!\n",
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	805	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	806	return;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	807	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	808
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	809	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	810	timeout = (cycles_t) 10 * cpu_khz; // 10ms
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	811
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	812	while (1)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	813	{
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	814	udelay(100); // Dem Slave etwas Zeit lassen...
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	815
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	816	if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	817	return;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	818	if (unlikely(ec_master_simple_io(slave->master, command))) {
163 a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	819	EC_WARN("Acknowledge checking failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	820	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	821	return;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	822	}
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	823
163 a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	824	end = get_cycles();
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	825
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	826	if (likely(EC_READ_U8(command->data) == state)) {
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	827	EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state,
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	828	slave->ring_position);
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	829	return;
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	830	}
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	831
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	832	if (unlikely((end - start) >= timeout)) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	833	EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	834	" - Timeout!\n", state, slave->ring_position);
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	835	return;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	836	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	837	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	838	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	839
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	840	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	841
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	842	/**
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	843	Reads the AL status code of a slave and displays it.
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	844
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	845	If the AL status code is not supported, or if no error occurred (both
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	846	resulting in code=0), nothing is displayed.
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	847	*/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	848
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	849	void ec_slave_read_al_status_code(ec_slave_t slave /< EtherCAT-Slave /)
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	850	{
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	851	ec_command_t *command;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	852	uint16_t code;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	853	const ec_code_msg_t *al_msg;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	854
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	855	command = &slave->master->simple_command;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	856
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	857	if (ec_command_nprd(command, slave->station_address, 0x0134, 2)) return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	858	if (unlikely(ec_master_simple_io(slave->master, command))) {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	859	EC_WARN("Failed to read AL status code on slave %i!\n",
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	860	slave->ring_position);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	861	return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	862	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	863
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	864	if (!(code = EC_READ_U16(command->data))) return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	865
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	866	for (al_msg = al_status_messages; al_msg->code; al_msg++) {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	867	if (al_msg->code == code) {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	868	EC_ERR("AL status message 0x%04X: \"%s\".\n",
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	869	al_msg->code, al_msg->message);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	870	return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	871	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	872	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	873
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	874	EC_ERR("Unknown AL status code 0x%04X.\n", code);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	875	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	876
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	877	/*****************************************************************************/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	878
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	879	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	880	Ändert den Zustand eines Slaves.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	881
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	882	\return 0 bei Erfolg, sonst < 0
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	883	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	884
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	885	int ec_slave_state_change(ec_slave_t *slave,
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	886	/*< Slave, dessen Zustand geändert werden soll /
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	887	uint8_t state
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	888	/*< Neuer Zustand /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	889	)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	890	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	891	ec_command_t *command;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	892	cycles_t start, end, timeout;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	893
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	894	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	895
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	896	if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	897	EC_WRITE_U16(command->data, state);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	898	if (unlikely(ec_master_simple_io(slave->master, command))) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	899	EC_ERR("Failed to set state 0x%02X on slave %i!\n",
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	900	state, slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	901	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	902	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	903
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	904	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	905	timeout = (cycles_t) 10 * cpu_khz; // 10ms
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	906
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	907	while (1)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	908	{
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	909	udelay(100); // Dem Slave etwas Zeit lassen...
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	910
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	911	if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	912	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	913	if (unlikely(ec_master_simple_io(slave->master, command))) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	914	EC_ERR("Failed to check state 0x%02X on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	915	state, slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	916	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	917	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	918
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	919	end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	920
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	921	if (unlikely(EC_READ_U8(command->data) & 0x10)) { // State change error
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	922	EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	923	" (code 0x%02X)!\n", state, slave->ring_position,
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	924	EC_READ_U8(command->data));
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	925	state = EC_READ_U8(command->data) & 0x0F;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	926	ec_slave_read_al_status_code(slave);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	927	ec_slave_state_ack(slave, state);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	928	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	929	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	930
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	931	if (likely(EC_READ_U8(command->data) == (state & 0x0F))) {
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	932	// State change successful
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	933	return 0;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	934	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	935
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	936	if (unlikely((end - start) >= timeout)) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	937	EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	938	state, slave->ring_position);
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	939	return -1;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	940	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	941	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	942	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	943
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	944	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	945
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	946	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	947	Merkt eine FMMU-Konfiguration vor.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	948
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	949	Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	950	entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	951	FMMUs konfiguriert.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	952
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	953	Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	954	Erfolg zurückgegeben.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	955
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	956	\return 0 bei Erfolg, sonst < 0
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	957	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	958
160 7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	959	int ec_slave_prepare_fmmu(ec_slave_t slave, /< EtherCAT-Slave /
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	960	const ec_domain_t domain, /< Domäne /
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	961	const ec_sync_t sync /< Sync-Manager /
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	962	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	963	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	964	unsigned int i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	965
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	966	// FMMU schon vorgemerkt?
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	967	for (i = 0; i < slave->fmmu_count; i++)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	968	if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	969	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	970
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	971	// Neue FMMU reservieren...
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	972
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	973	if (slave->fmmu_count >= slave->base_fmmu_count) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	974	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	975	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	976	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	977
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	978	slave->fmmus[slave->fmmu_count].domain = domain;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	979	slave->fmmus[slave->fmmu_count].sync = sync;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	980	slave->fmmus[slave->fmmu_count].logical_start_address = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	981	slave->fmmu_count++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	982	slave->registered = 1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	983
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	984	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	985	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	986
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	987	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	988
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	989	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	990	Gibt alle Informationen über einen EtherCAT-Slave aus.
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	991
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	992	Verbosity:
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	993	0 - Nur Slavetypen und Adressen
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	994	1 - mit EEPROM-Informationen
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	995	>1 - mit SDO-Dictionaries
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	996	*/
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	997
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	998	void ec_slave_print(const ec_slave_t slave, /< EtherCAT-Slave /
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	999	unsigned int verbosity /*< Geschwätzigkeit /
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	1000	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	1001	{
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	1002	ec_eeprom_sync_t *sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	1003	ec_eeprom_pdo_t *pdo;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1004	ec_eeprom_pdo_entry_t *pdo_entry;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1005	ec_sdo_t *sdo;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1006	ec_sdo_entry_t *sdo_entry;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1007	int first, i;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	1008
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	1009	if (slave->type) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1010	EC_INFO("%i) %s %s: %s\n", slave->ring_position,
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	1011	slave->type->vendor_name, slave->type->product_name,
b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	1012	slave->type->description);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	1013	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	1014	else {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1015	EC_INFO("%i) UNKNOWN SLAVE: vendor 0x%08X, product 0x%08X\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1016	slave->ring_position, slave->sii_vendor_id,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1017	slave->sii_product_code);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1018	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1019
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1020	if (!verbosity) return;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1021
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1022	EC_INFO(" Station address: 0x%04X\n", slave->station_address);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1023
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1024	EC_INFO(" 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	1025	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	1026	EC_INFO(" Port %i: link %s, loop %s, %s\n", i,
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1027	slave->dl_link[i] ? "up" : "down",
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1028	slave->dl_loop[i] ? "closed" : "open",
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1029	slave->dl_signal[i] ? "signal detected" : "no signal");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1030	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1031
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1032	EC_INFO(" Base information:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1033	EC_INFO(" Type %u, revision %i, build %i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1034	slave->base_type, slave->base_revision, slave->base_build);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1035	EC_INFO(" Supported FMMUs: %i, sync managers: %i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1036	slave->base_fmmu_count, slave->base_sync_count);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1037
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1038	if (slave->sii_mailbox_protocols) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1039	EC_INFO(" Mailbox communication:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1040	EC_INFO(" RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1041	slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1042	slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1043	EC_INFO(" Supported protocols: ");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1044
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1045	first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1046	if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1047	printk("AoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1048	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1049	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1050	if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1051	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1052	printk("EoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1053	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1054	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1055	if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1056	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1057	printk("CoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1058	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1059	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1060	if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1061	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1062	printk("FoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1063	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1064	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1065	if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1066	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1067	printk("SoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1068	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1069	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1070	if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1071	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1072	printk("VoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1073	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1074	printk("\n");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1075	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1076
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1077	EC_INFO(" EEPROM data:\n");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1078
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1079	if (slave->sii_alias)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1080	EC_INFO(" Configured station alias: 0x%04X (%i)\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1081	slave->sii_alias, slave->sii_alias);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1082
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1083	EC_INFO(" Vendor-ID: 0x%08X, Product code: 0x%08X\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1084	slave->sii_vendor_id, slave->sii_product_code);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1085	EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1086	slave->sii_revision_number, slave->sii_serial_number);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1087
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1088	if (slave->eeprom_name)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1089	EC_INFO(" Name: %s\n", slave->eeprom_name);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1090	if (slave->eeprom_group)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1091	EC_INFO(" Group: %s\n", slave->eeprom_group);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1092	if (slave->eeprom_desc)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1093	EC_INFO(" Description: %s\n", slave->eeprom_desc);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1094
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1095	if (!list_empty(&slave->eeprom_syncs)) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1096	EC_INFO(" Sync-Managers:\n");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1097	list_for_each_entry(sync, &slave->eeprom_syncs, list) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1098	EC_INFO(" %i: 0x%04X, length %i, control 0x%02X, %s\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1099	sync->index, sync->physical_start_address,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1100	sync->length, sync->control_register,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1101	sync->enable ? "enable" : "disable");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1102	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1103	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1104
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1105	list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1106	EC_INFO(" %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1107	pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1108	pdo->name ? pdo->name : "???",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1109	pdo->index, pdo->sync_manager);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1110
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1111	list_for_each_entry(pdo_entry, &pdo->entries, list) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1112	EC_INFO(" \"%s\" 0x%04X:%X, %i Bit\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1113	pdo_entry->name ? pdo_entry->name : "???",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1114	pdo_entry->index, pdo_entry->subindex,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1115	pdo_entry->bit_length);
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	1116	}
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	1117	}
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	1118
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1119	if (verbosity < 2) return;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1120
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1121	if (!list_empty(&slave->sdo_dictionary)) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1122	EC_INFO(" SDO-Dictionary:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1123	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1124	EC_INFO(" 0x%04X \"%s\"\n", sdo->index,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1125	sdo->name ? sdo->name : "");
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	1126	EC_INFO(" Object code: 0x%02X\n", sdo->object_code);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1127	list_for_each_entry(sdo_entry, &sdo->entries, list) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1128	EC_INFO(" 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1129	sdo->index, sdo_entry->subindex,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1130	sdo_entry->name ? sdo_entry->name : "",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1131	sdo_entry->data_type, sdo_entry->bit_length);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1132	}
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1133	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1134	}
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1135	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1136
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1137	/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1138
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1139	/**
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1140	Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1141
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1142	\return 0 bei Erfolg, sonst < 0
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1143	*/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1144
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1145	int ec_slave_check_crc(ec_slave_t slave /< EtherCAT-Slave /)
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1146	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1147	ec_command_t *command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1148
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1149	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1150
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1151	if (ec_command_nprd(command, slave->station_address, 0x0300, 4)) return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1152	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	1153	EC_WARN("Reading CRC fault counters failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	1154	slave->ring_position);
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1155	return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1156	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1157
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1158	// No CRC faults.
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1159	if (!EC_READ_U32(command->data)) return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1160
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1161	if (EC_READ_U8(command->data))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1162	EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1163	EC_READ_U8(command->data),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1164	EC_READ_U8(command->data) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1165	slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1166	if (EC_READ_U8(command->data + 1))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1167	EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1168	EC_READ_U8(command->data + 1),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1169	EC_READ_U8(command->data + 1) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1170	slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1171	if (EC_READ_U8(command->data + 2))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1172	EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1173	EC_READ_U8(command->data + 2),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1174	EC_READ_U8(command->data + 2) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1175	slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1176	if (EC_READ_U8(command->data + 3))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1177	EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1178	EC_READ_U8(command->data + 3),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1179	EC_READ_U8(command->data + 3) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1180	slave->ring_position);
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1181
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1182	// Reset CRC counters
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1183	if (ec_command_npwr(command, slave->station_address, 0x0300, 4)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1184	EC_WRITE_U32(command->data, 0x00000000);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1185	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	1186	EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	1187	slave->ring_position);
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1188	return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1189	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1190
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1191	return 0;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1192	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1193
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1194	/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1195
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	1196	/**
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1197	Schreibt den "Configured station alias".
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1198	\return 0, wenn alles ok, sonst < 0
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1199	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1200
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1201	int ecrt_slave_write_alias(ec_slave_t slave, /* EtherCAT-Slave */
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1202	uint16_t alias /** Neuer Alias */
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1203	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1204	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1205	return ec_slave_sii_write16(slave, 0x0004, alias);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1206	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1207
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1208	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1209
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1210	/**
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1211	Formatiert Attribut-Daten für lesenden Zugriff im SysFS
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1212
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1213	\return Anzahl Bytes im Speicher
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1214	*/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1215
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1216	ssize_t ec_show_slave_attribute(struct kobject kobj, /< KObject /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1217	struct attribute attr, /< Attribut /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1218	char buffer /< Speicher für die Daten /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1219	)
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1220	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1221	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	1222
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1223	if (attr == &attr_ring_position) {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1224	return sprintf(buffer, "%i\n", slave->ring_position);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1225	}
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1226	else if (attr == &attr_station_address) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1227	return sprintf(buffer, "%i\n", slave->station_address);
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1228	}
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1229	else if (attr == &attr_vendor_name) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1230	if (slave->type)
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1231	return sprintf(buffer, "%s\n", slave->type->vendor_name);
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1232	}
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1233	else if (attr == &attr_product_name) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1234	if (slave->type)
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1235	return sprintf(buffer, "%s\n", slave->type->product_name);
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1236	}
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1237	else if (attr == &attr_product_desc) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1238	if (slave->type)
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1239	return sprintf(buffer, "%s\n", slave->type->description);
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	1240	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1241
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1242	return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1243	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1244
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1245	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1246
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1247	const ec_code_msg_t al_status_messages[] = {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1248	{0x0001, "Unspecified error"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1249	{0x0011, "Invalud requested state change"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1250	{0x0012, "Unknown requested state"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1251	{0x0013, "Bootstrap not supported"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1252	{0x0014, "No valid firmware"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1253	{0x0015, "Invalid mailbox configuration"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1254	{0x0016, "Invalid mailbox configuration"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1255	{0x0017, "Invalid sync manager configuration"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1256	{0x0018, "No valid inputs available"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1257	{0x0019, "No valid outputs"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1258	{0x001A, "Synchronisation error"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1259	{0x001B, "Sync manager watchdog"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1260	{0x0020, "Slave needs cold start"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1261	{0x0021, "Slave needs INIT"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1262	{0x0022, "Slave needs PREOP"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1263	{0x0023, "Slave needs SAVEOP"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1264	{}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1265	};
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1266
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1267	/*****************************************************************************/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1268
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1269	EXPORT_SYMBOL(ecrt_slave_write_alias);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1270
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1271	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1272
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1273	/* Emacs-Konfiguration
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1274	;;; Local Variables: ***
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	1275	;;; c-basic-offset:4 ***
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1276	;;; End: ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1277	*/
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	1278

author	Florian Pose <fp@igh-essen.com>
	Tue, 11 Apr 2006 10:05:21 +0000
changeset 183	8ae1e011e96c
parent 182	8c0bc99229a9
child 184	2fc86cec12df
permissions	-rw-r--r--