master/slave.c
author Florian Pose <fp@igh-essen.com>
Fri, 19 Mar 2010 12:46:57 +0100
changeset 1882 8ae8cc56d910
parent 1831 1875b9fea0ba
child 1909 ea3eb4c74c1b
permissions -rw-r--r--
Minor fix.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "slave_config.h"
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#include "slave.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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char *ec_slave_sii_string(ec_slave_t *, unsigned int);
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/*****************************************************************************/
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/**
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   Slave constructor.
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   \return 0 in case of success, else < 0
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*/
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void ec_slave_init(
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        ec_slave_t *slave, /**< EtherCAT slave */
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        ec_master_t *master, /**< EtherCAT master */
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        uint16_t ring_position, /**< ring position */
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        uint16_t station_address /**< station address to configure */
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        )
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{
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    unsigned int i;
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    int ret;
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    slave->master = master;
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    slave->ring_position = ring_position;
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    slave->station_address = station_address;
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    slave->config = NULL;
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    slave->requested_state = EC_SLAVE_STATE_PREOP;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->error_flag = 0;
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    slave->force_config = 0;
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    slave->configured_rx_mailbox_offset = 0x0000;
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    slave->configured_rx_mailbox_size = 0x0000;
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    slave->configured_tx_mailbox_offset = 0x0000;
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    slave->configured_tx_mailbox_size = 0x0000;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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    slave->base_fmmu_count = 0;
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    slave->base_sync_count = 0;
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    for (i = 0; i < EC_MAX_PORTS; i++) {
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        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;
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        slave->ports[i].link.link_up = 0;
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        slave->ports[i].link.loop_closed = 0;
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        slave->ports[i].link.signal_detected = 0;
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        slave->sii.physical_layer[i] = 0xFF;
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        slave->ports[i].receive_time = 0U;
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        slave->ports[i].next_slave = NULL;
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        slave->ports[i].delay_to_next_dc = 0U;
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    }
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    slave->base_fmmu_bit_operation = 0;
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    slave->base_dc_supported = 0;
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    slave->base_dc_range = EC_DC_32;
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    slave->has_dc_system_time = 0;
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    slave->transmission_delay = 0U;
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    slave->sii_words = NULL;
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    slave->sii_nwords = 0;
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    slave->sii.alias = 0x0000;
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    slave->sii.vendor_id = 0x00000000;
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    slave->sii.product_code = 0x00000000;
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    slave->sii.revision_number = 0x00000000;
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    slave->sii.serial_number = 0x00000000;
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    slave->sii.boot_rx_mailbox_offset = 0x0000;
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    slave->sii.boot_rx_mailbox_size = 0x0000;
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   122
    slave->sii.boot_tx_mailbox_offset = 0x0000;
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diff changeset
   123
    slave->sii.boot_tx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   124
    slave->sii.std_rx_mailbox_offset = 0x0000;
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diff changeset
   125
    slave->sii.std_rx_mailbox_size = 0x0000;
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diff changeset
   126
    slave->sii.std_tx_mailbox_offset = 0x0000;
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diff changeset
   127
    slave->sii.std_tx_mailbox_size = 0x0000;
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0791aac03180 Separated SII data from slave.
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diff changeset
   128
    slave->sii.mailbox_protocols = 0;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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   129
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   130
    slave->sii.strings = NULL;
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   131
    slave->sii.string_count = 0;
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   132
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   133
    slave->sii.has_general = 0;
834
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   134
    slave->sii.group = NULL;
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   135
    slave->sii.image = NULL;
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   136
    slave->sii.order = NULL;
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   137
    slave->sii.name = NULL;
835
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diff changeset
   138
    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836
860a5bacea6a Display notLRW flag.
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   139
    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834
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   140
    slave->sii.current_on_ebus = 0;
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   141
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   142
    slave->sii.syncs = NULL;
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   143
    slave->sii.sync_count = 0;
835
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diff changeset
   144
834
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   145
    INIT_LIST_HEAD(&slave->sii.pdos);
835
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diff changeset
   146
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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   147
    INIT_LIST_HEAD(&slave->sdo_dictionary);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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diff changeset
   148
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
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   149
    slave->sdo_dictionary_fetched = 0;
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   150
    slave->jiffies_preop = 0;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
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   151
1596
ea8d2b4ee742 Moved sdo request queue to slaves
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   152
    INIT_LIST_HEAD(&slave->slave_sdo_requests);
ea8d2b4ee742 Moved sdo request queue to slaves
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   153
    init_waitqueue_head(&slave->sdo_queue);
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   154
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
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   155
    INIT_LIST_HEAD(&slave->foe_requests);
491dea6f4fd7 Moved FOE request queue and fsm into slaves
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diff changeset
   156
    init_waitqueue_head(&slave->foe_queue);
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diff changeset
   157
1831
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   158
    INIT_LIST_HEAD(&slave->soe_requests);
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   159
    init_waitqueue_head(&slave->soe_queue);
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diff changeset
   160
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
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   161
    // init state machine datagram
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   162
    ec_datagram_init(&slave->fsm_datagram);
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   163
    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);
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diff changeset
   164
    ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);
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   165
    if (ret < 0) {
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diff changeset
   166
        ec_datagram_clear(&slave->fsm_datagram);
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diff changeset
   167
        EC_ERR("Failed to allocate Slave %u FSM datagram.\n",slave->ring_position);
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   168
        return;
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diff changeset
   169
    }
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   170
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   171
    // create state machine object
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   172
    ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);
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diff changeset
   173
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   174
}
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   175
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   176
/*****************************************************************************/
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   177
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   178
/**
195
674071846ee3 Translated all comments and documentation to english language.
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   179
   Slave destructor.
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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   180
   Clears and frees a slave object.
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   181
*/
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diff changeset
   182
992
50a44cbd30af Removed kobjects from sdo and slave.
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   183
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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   184
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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   185
    ec_sdo_t *sdo, *next_sdo;
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   186
    unsigned int i;
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   187
    ec_pdo_t *pdo, *next_pdo;
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   188
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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   189
    if (slave->config)
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diff changeset
   190
        ec_slave_config_detach(slave->config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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parents: 784
diff changeset
   191
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff changeset
   192
    // free all SDOs
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   193
    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   194
        list_del(&sdo->list);
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   195
        ec_sdo_clear(sdo);
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   196
        kfree(sdo);
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diff changeset
   197
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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parents: 175
diff changeset
   198
624
11332ad89f47 Simplified handling of EEPROM strings.
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diff changeset
   199
    // free all strings
834
0791aac03180 Separated SII data from slave.
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diff changeset
   200
    if (slave->sii.strings) {
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diff changeset
   201
        for (i = 0; i < slave->sii.string_count; i++)
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diff changeset
   202
            kfree(slave->sii.strings[i]);
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diff changeset
   203
        kfree(slave->sii.strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   204
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   205
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   206
    // free all sync managers
870
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   207
    ec_slave_clear_sync_managers(slave);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   208
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff changeset
   209
    // free all SII PDOs
834
0791aac03180 Separated SII data from slave.
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diff changeset
   210
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   211
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
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parents: 626
diff changeset
   212
        ec_pdo_clear(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   213
        kfree(pdo);
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diff changeset
   214
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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parents: 124
diff changeset
   215
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
   216
    if (slave->sii_words)
167ae3e76cc7 Moved sii to words.
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diff changeset
   217
        kfree(slave->sii_words);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff changeset
   218
    ec_fsm_slave_clear(&slave->fsm);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff changeset
   219
    ec_datagram_clear(&slave->fsm_datagram);
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diff changeset
   220
482
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   221
}
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   222
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   223
/*****************************************************************************/
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diff changeset
   224
870
fbd5924690ee Allow multiple sync manager categories.
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   225
/** Clear the sync manager array. 
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   226
 */
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diff changeset
   227
void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)
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   228
{
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diff changeset
   229
    unsigned int i;
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   230
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   231
    if (slave->sii.syncs) {
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   232
        for (i = 0; i < slave->sii.sync_count; i++) {
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   233
            ec_sync_clear(&slave->sii.syncs[i]);
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diff changeset
   234
        }
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diff changeset
   235
        kfree(slave->sii.syncs);
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diff changeset
   236
        slave->sii.syncs = NULL;
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diff changeset
   237
    }
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diff changeset
   238
}
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diff changeset
   239
fbd5924690ee Allow multiple sync manager categories.
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diff changeset
   240
/*****************************************************************************/
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diff changeset
   241
482
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   242
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   243
 * Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   244
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   245
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   246
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   247
        ec_slave_state_t new_state /**< new application state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   248
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   249
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   250
    if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   251
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   252
            char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   253
                cur_state[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   254
            ec_state_string(slave->current_state, old_state, 0);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   255
            ec_state_string(new_state, cur_state, 0);
784
0a0994fdafb8 Esthetic surgery for slave.
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parents: 772
diff changeset
   256
            EC_DBG("Slave %u: %s -> %s.\n",
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   257
                   slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   258
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   259
        slave->current_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   260
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   261
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   262
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   263
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   264
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   265
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   266
 * Request a slave state and resets the error flag.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   267
 */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   268
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   269
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   270
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   271
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   272
{
8fede404c01f Persistent slave lists.
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diff changeset
   273
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   274
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   275
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   276
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   277
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   278
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   279
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   280
   Fetches data from a STRING category.
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   281
   \todo range checking
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   282
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   283
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   284
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   285
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   286
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   287
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   288
        size_t data_size /**< number of bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   289
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   290
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   291
    int i, err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   292
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   293
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   294
834
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   295
    slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   296
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   297
    if (slave->sii.string_count) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   298
        if (!(slave->sii.strings =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   299
                    kmalloc(sizeof(char *) * slave->sii.string_count,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   300
                        GFP_KERNEL))) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   301
            EC_ERR("Failed to allocate string array memory.\n");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   302
            err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   303
            goto out_zero;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   304
        }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   305
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   306
        offset = 1;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   307
        for (i = 0; i < slave->sii.string_count; i++) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   308
            size = data[offset];
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   309
            // allocate memory for string structure and data at a single blow
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   310
            if (!(slave->sii.strings[i] =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   311
                        kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   312
                EC_ERR("Failed to allocate string memory.\n");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   313
                err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   314
                goto out_free;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   315
            }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   316
            memcpy(slave->sii.strings[i], data + offset + 1, size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   317
            slave->sii.strings[i][size] = 0x00; // append binary zero
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   318
            offset += 1 + size;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   319
        }
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   320
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   321
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   322
    return 0;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   323
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   324
out_free:
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   325
    for (i--; i >= 0; i--)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   326
        kfree(slave->sii.strings[i]);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   327
    kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   328
    slave->sii.strings = NULL;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   329
out_zero:
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   330
    slave->sii.string_count = 0;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   331
    return err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   332
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   333
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   334
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   335
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   336
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   337
   Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   338
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   339
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   340
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   341
int ec_slave_fetch_sii_general(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   342
        ec_slave_t *slave, /**< EtherCAT slave */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   343
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   344
        size_t data_size /**< size in bytes */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   345
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   346
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   347
    unsigned int i;
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   348
    uint8_t flags;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   349
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   350
    if (data_size != 32) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   351
        EC_ERR("Wrong size of general category (%zu/32) in slave %u.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   352
                data_size, slave->ring_position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   353
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   354
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   355
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   356
    slave->sii.group = ec_slave_sii_string(slave, data[0]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   357
    slave->sii.image = ec_slave_sii_string(slave, data[1]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   358
    slave->sii.order = ec_slave_sii_string(slave, data[2]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   359
    slave->sii.name = ec_slave_sii_string(slave, data[3]);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   360
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   361
    for (i = 0; i < 4; i++)
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   362
        slave->sii.physical_layer[i] =
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   363
            (data[4] & (0x03 << (i * 2))) >> (i * 2);
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   364
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   365
    // read CoE details
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   366
    flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   367
    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   368
    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   369
    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   370
    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   371
    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   372
    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   373
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   374
    // read general flags
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   375
    flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   376
    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   377
    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   378
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   379
    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   380
    slave->sii.has_general = 1;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   381
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   382
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   383
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   384
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   385
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   386
/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   387
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   388
 * Appends the sync managers described in the category to the existing ones.
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   389
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   390
 * \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   391
 */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   392
int ec_slave_fetch_sii_syncs(
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   393
        ec_slave_t *slave, /**< EtherCAT slave. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   394
        const uint8_t *data, /**< Category data. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   395
        size_t data_size /**< Number of bytes. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   396
        )
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   397
{
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   398
    unsigned int i, count, total_count;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   399
    ec_sync_t *sync;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   400
    size_t memsize;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   401
    ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   402
    uint8_t index;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   403
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   404
    // one sync manager struct is 4 words long
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   405
    if (data_size % 8) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   406
        EC_ERR("Invalid SII sync manager category size %zu in slave %u.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   407
                data_size, slave->ring_position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   408
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   409
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   410
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   411
    count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   412
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   413
    if (count) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   414
        total_count = count + slave->sii.sync_count;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   415
        if (total_count > EC_MAX_SYNC_MANAGERS) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   416
            EC_ERR("Exceeded maximum number of sync managers!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   417
            return -EOVERFLOW;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   418
        }
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   419
        memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   420
        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   421
            EC_ERR("Failed to allocate %zu bytes for sync managers.\n",
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   422
                    memsize);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   423
            return -ENOMEM;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   424
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   425
873
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   426
        for (i = 0; i < slave->sii.sync_count; i++)
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   427
            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   428
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   429
        // initialize new sync managers
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   430
        for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   431
            index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   432
            sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   433
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   434
            ec_sync_init(sync, slave);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   435
            sync->physical_start_address = EC_READ_U16(data);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   436
            sync->default_length = EC_READ_U16(data + 2);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   437
            sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   438
            sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   439
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   440
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   441
        if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   442
            kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   443
        slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   444
        slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   445
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   446
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   447
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   448
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   449
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   450
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   451
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   452
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   453
   Fetches data from a [RT]xPDO category.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   454
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   455
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   456
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   457
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   458
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   459
        const uint8_t *data, /**< category data */
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   460
        size_t data_size, /**< number of bytes */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   461
        ec_direction_t dir /**< PDO direction. */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   462
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   463
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   464
    int ret;
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   465
    ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   466
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   467
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   468
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   469
    while (data_size >= 8) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   470
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   471
            EC_ERR("Failed to allocate PDO memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   472
            return -ENOMEM;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   473
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   474
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   475
        ec_pdo_init(pdo);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   476
        pdo->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   477
        entry_count = EC_READ_U8(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   478
        pdo->sync_index = EC_READ_U8(data + 3);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   479
        ret = ec_pdo_set_name(pdo,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   480
                ec_slave_sii_string(slave, EC_READ_U8(data + 5)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   481
        if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   482
            ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   483
            kfree(pdo);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   484
            return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   485
        }
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   486
        list_add_tail(&pdo->list, &slave->sii.pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   487
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   488
        data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   489
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   490
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   491
        for (i = 0; i < entry_count; i++) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   492
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   493
                EC_ERR("Failed to allocate PDO entry memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   494
                return -ENOMEM;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   495
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   496
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   497
            ec_pdo_entry_init(entry);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   498
            entry->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   499
            entry->subindex = EC_READ_U8(data + 2);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   500
            ret = ec_pdo_entry_set_name(entry,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   501
                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   502
            if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   503
                ec_pdo_entry_clear(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   504
                kfree(entry);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   505
                return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   506
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   507
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   508
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   509
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   510
            data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   511
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   512
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   513
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   514
        // if sync manager index is positive, the PDO is mapped by default
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   515
        if (pdo->sync_index >= 0) {
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   516
            ec_sync_t *sync;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   517
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   518
            if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   519
                EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   520
                        pdo->sync_index, pdo->index, slave->ring_position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   521
                return -ENOENT;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   522
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   523
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   524
            ret = ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   525
            if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   526
                return ret;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   527
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   528
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   529
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   530
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   531
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   532
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   533
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   534
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   535
/**
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   536
   Searches the string list for an index.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   537
   \return 0 in case of success, else < 0
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   538
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   539
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   540
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   541
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   542
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   543
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   544
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   545
    if (!index--) 
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   546
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   547
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   548
    if (index >= slave->sii.string_count) {
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   549
        if (slave->master->debug_level)
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   550
            EC_WARN("String %u not found in slave %u.\n",
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   551
                    index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   552
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   553
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   554
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   555
    return slave->sii.strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   556
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   557
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   558
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   559
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   560
/** Get the sync manager given an index.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   561
 *
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   562
 * \return pointer to sync manager, or NULL.
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   563
 */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   564
ec_sync_t *ec_slave_get_sync(
912
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   565
        ec_slave_t *slave, /**< EtherCAT slave. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   566
        uint8_t sync_index /**< Sync manager index. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   567
        )
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   568
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   569
    if (sync_index < slave->sii.sync_count) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   570
        return &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   571
    } else {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   572
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   573
    }
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   574
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   575
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   576
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   577
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   578
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   579
   Counts the total number of SDOs and entries in the dictionary.
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   580
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   581
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   582
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   583
                            unsigned int *sdo_count, /**< number of SDOs */
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   584
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   585
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   586
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   587
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   588
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   589
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   590
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   591
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   592
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   593
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   594
        list_for_each_entry(entry, &sdo->entries, list) {
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   595
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   596
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   597
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   598
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   599
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   600
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   601
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   602
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   603
/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   604
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   605
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   606
 * Get an SDO from the dictionary.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   607
 * \returns The desired SDO, or NULL.
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   608
 */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   609
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   610
ec_sdo_t *ec_slave_get_sdo(
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   611
        ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   612
        uint16_t index /**< SDO index */
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   613
        )
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   614
{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   615
    ec_sdo_t *sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   616
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   617
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   618
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   619
            continue;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   620
        return sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   621
    }
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   622
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   623
    return NULL;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   624
}
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   625
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   626
/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   627
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   628
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   629
 * Get an SDO from the dictionary.
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   630
 *
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   631
 * const version.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   632
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   633
 * \returns The desired SDO, or NULL.
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   634
 */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   635
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   636
const ec_sdo_t *ec_slave_get_sdo_const(
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   637
        const ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   638
        uint16_t index /**< SDO index */
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   639
        )
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   640
{
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   641
    const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   642
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   643
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   644
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   645
            continue;
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   646
        return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   647
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   648
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   649
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   650
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   651
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   652
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   653
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   654
/** Get an SDO from the dictionary, given its position in the list.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   655
 * \returns The desired SDO, or NULL.
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   656
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   657
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   658
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   659
        const ec_slave_t *slave, /**< EtherCAT slave. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   660
        uint16_t sdo_position /**< SDO list position. */
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   661
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   662
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   663
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   664
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   665
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   666
        if (sdo_position--)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   667
            continue;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   668
        return sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   669
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   670
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   671
    return NULL;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   672
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   673
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   674
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   675
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   676
/** Get the number of SDOs in the dictionary.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   677
 * \returns SDO count.
964
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   678
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   679
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   680
uint16_t ec_slave_sdo_count(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   681
        const ec_slave_t *slave /**< EtherCAT slave. */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   682
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   683
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   684
    const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   685
    uint16_t count = 0;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   686
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   687
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   688
        count++;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   689
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   690
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   691
    return count;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   692
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   693
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   694
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   695
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   696
/** Finds a mapped PDO.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   697
 * \returns The desired PDO object, or NULL.
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   698
 */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   699
const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   700
        const ec_slave_t *slave, /**< Slave. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   701
        uint16_t index /**< PDO index to find. */
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   702
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   703
{
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   704
    unsigned int i;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   705
    const ec_sync_t *sync;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   706
    const ec_pdo_t *pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   707
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   708
    for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   709
        sync = &slave->sii.syncs[i];
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   710
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 876
diff changeset
   711
        if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   712
            continue;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   713
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   714
        return pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   715
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   716
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   717
    return NULL;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   718
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   719
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   720
/*****************************************************************************/
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   721
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   722
/** Find name for a PDO and its entries.
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   723
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   724
void ec_slave_find_names_for_pdo(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   725
        ec_slave_t *slave,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   726
        ec_pdo_t *pdo
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   727
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   728
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   729
    const ec_sdo_t *sdo;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   730
    ec_pdo_entry_t *pdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   731
    const ec_sdo_entry_t *sdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   732
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   733
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   734
        if (sdo->index == pdo->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   735
            ec_pdo_set_name(pdo, sdo->name);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   736
        } else {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   737
            list_for_each_entry(pdo_entry, &pdo->entries, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   738
                if (sdo->index == pdo_entry->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   739
                    sdo_entry = ec_sdo_get_entry_const(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   740
                            sdo, pdo_entry->subindex);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   741
                    if (sdo_entry) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   742
                        ec_pdo_entry_set_name(pdo_entry,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   743
                                sdo_entry->description);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   744
                    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   745
                }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   746
            }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   747
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   748
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   749
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   750
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   751
/*****************************************************************************/
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   752
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   753
/** Attach PDO names.
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   754
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   755
void ec_slave_attach_pdo_names(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   756
        ec_slave_t *slave
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   757
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   758
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   759
    unsigned int i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   760
    ec_sync_t *sync;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   761
    ec_pdo_t *pdo;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   762
    
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   763
    for (i = 0; i < slave->sii.sync_count; i++) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   764
        sync = slave->sii.syncs + i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   765
        list_for_each_entry(pdo, &sync->pdos.list, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   766
            ec_slave_find_names_for_pdo(slave, pdo);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   767
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   768
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   769
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   770
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   771
/*****************************************************************************/
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   772
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   773
/** Calculates the sum of round-trip-times of connected ports 1-3.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   774
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   775
uint32_t ec_slave_calc_rtt_sum(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   776
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   777
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   778
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   779
    uint32_t rtt_sum = 0, rtt;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   780
    unsigned int i;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   781
    
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   782
    for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   783
        if (slave->ports[i].next_slave) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   784
            rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   785
            rtt_sum += rtt;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   786
        }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   787
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   788
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   789
    return rtt_sum;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   790
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   791
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   792
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   793
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   794
/** Finds the next slave supporting DC delay measurement.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   795
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   796
ec_slave_t *ec_slave_find_next_dc_slave(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   797
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   798
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   799
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   800
    ec_slave_t *dc_slave = NULL;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   801
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   802
    if (slave->base_dc_supported) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   803
        dc_slave = slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   804
    } else {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   805
        unsigned int i;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   806
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   807
        for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   808
            ec_slave_t *next = slave->ports[i].next_slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   809
            if (next) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   810
                dc_slave = ec_slave_find_next_dc_slave(next);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   811
                if (dc_slave)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   812
                    break;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   813
            }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   814
        }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   815
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   816
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   817
    return dc_slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   818
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   819
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   820
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   821
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   822
/** Calculates the port transmission delays.
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   823
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   824
void ec_slave_calc_port_delays(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   825
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   826
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   827
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   828
    unsigned int i;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   829
    ec_slave_t *next, *next_dc;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   830
    uint32_t rtt, next_rtt_sum;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   831
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   832
    if (!slave->base_dc_supported)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   833
        return;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   834
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   835
    for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   836
        next = slave->ports[i].next_slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   837
        if (!next)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   838
            continue;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   839
        next_dc = ec_slave_find_next_dc_slave(next);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   840
        if (!next_dc)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   841
            continue;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   842
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   843
        rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   844
        next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   845
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   846
        slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   847
        next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   848
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   849
#if 0
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   850
        EC_DBG("delay %u:%u rtt=%u next_rtt_sum=%u delay=%u\n",
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   851
                slave->ring_position, i, rtt, next_rtt_sum,
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   852
                slave->ports[i].delay_to_next_dc);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   853
#endif
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   854
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   855
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   856
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   857
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   858
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   859
/** Recursively calculates transmission delays.
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   860
 */
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   861
void ec_slave_calc_transmission_delays_rec(
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   862
        ec_slave_t *slave, /**< Current slave. */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   863
        uint32_t *delay /**< Sum of delays. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   864
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   865
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   866
    unsigned int i;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   867
    ec_slave_t *next, *next_dc;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   868
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   869
#if 0
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   870
    EC_DBG("%u: %u\n", slave->ring_position, *delay);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   871
#endif
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   872
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   873
    slave->transmission_delay = *delay;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   874
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   875
    for (i = 1; i < EC_MAX_PORTS; i++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   876
        ec_slave_port_t *port = &slave->ports[i];
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   877
        next = port->next_slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   878
        if (!next)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   879
            continue;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   880
        next_dc = ec_slave_find_next_dc_slave(next);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   881
        if (!next_dc)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   882
            continue;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   883
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   884
        *delay = *delay + port->delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   885
#if 0
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   886
        EC_DBG("%u:%u %u\n", slave->ring_position, i, *delay);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   887
#endif
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   888
        ec_slave_calc_transmission_delays_rec(next_dc, delay);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   889
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   890
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   891
    *delay = *delay + slave->ports[0].delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   892
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   893
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   894
/*****************************************************************************/