etherlabmaster: master/slave.c@8c0bc99229a9 (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	3	* s l a v e . c
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	5	* Methoden für einen EtherCAT-Slave.
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	7	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	9	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	10
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	11	#include <linux/module.h>
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	12	#include <linux/delay.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	13
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	14	#include "globals.h"
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	15	#include "slave.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	16	#include "command.h"
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	17	#include "master.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	18
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	19	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	20
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	21	int ec_slave_fetch_categories(ec_slave_t *);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	22	int ec_slave_fetch_strings(ec_slave_t , const uint8_t );
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	23	int ec_slave_fetch_general(ec_slave_t , const uint8_t );
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	24	int ec_slave_fetch_sync(ec_slave_t , const uint8_t , size_t);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	25	int ec_slave_fetch_pdo(ec_slave_t , const uint8_t , size_t, ec_pdo_type_t);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	26	int ec_slave_locate_string(ec_slave_t , unsigned int, char *);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	27	ssize_t ec_show_slave_attribute(struct kobject , struct attribute , char *);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	28
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	29	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	30
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	31	static struct attribute attr_ring_position = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	32	.name = "ring_position",
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	33	.owner = THIS_MODULE,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	34	.mode = S_IRUGO
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	35	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	36
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	37	static struct attribute *def_attrs[] = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	38	&attr_ring_position,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	39	NULL,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	40	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	41
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	42	static struct sysfs_ops sysfs_ops = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	43	.show = &ec_show_slave_attribute,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	44	.store = NULL
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	45	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	46
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	47	static struct kobj_type ktype_ec_slave = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	48	.release = ec_slave_clear,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	49	.sysfs_ops = &sysfs_ops,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	50	.default_attrs = def_attrs
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	51	};
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	52
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	53	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	54
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	55	const ec_code_msg_t al_status_messages[];
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	56
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	57	/*****************************************************************************/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	58
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	59	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	60	EtherCAT-Slave-Konstruktor.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	61	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	62
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	63	int ec_slave_init(ec_slave_t slave, /< EtherCAT-Slave /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	64	ec_master_t master, /< EtherCAT-Master /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	65	uint16_t ring_position, /*< Ringposition /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	66	uint16_t station_address /*< Programmierte Adresse /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	67	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	68	{
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	69	unsigned int i;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	70
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	71	slave->ring_position = ring_position;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	72	slave->station_address = station_address;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	73
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	74	// Init kobject and add it to the hierarchy
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	75	memset(&slave->kobj, 0x00, sizeof(struct kobject));
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	76	kobject_init(&slave->kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	77	slave->kobj.ktype = &ktype_ec_slave;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	78	slave->kobj.parent = &master->kobj;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	79	if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	80	EC_ERR("Failed to set kobject name.\n");
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	81	kobject_put(&slave->kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	82	return -1;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	83	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	84
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	85	slave->master = master;
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	86	slave->buscoupler_index = 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	87	slave->index_after_buscoupler = 0xFFFF;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	88	slave->base_type = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	89	slave->base_revision = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	90	slave->base_build = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	91	slave->base_fmmu_count = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	92	slave->base_sync_count = 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	93	slave->sii_alias = 0;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	94	slave->sii_vendor_id = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	95	slave->sii_product_code = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	96	slave->sii_revision_number = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	97	slave->sii_serial_number = 0;
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	98	slave->sii_rx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	99	slave->sii_rx_mailbox_size = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	100	slave->sii_tx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	101	slave->sii_tx_mailbox_size = 0;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 132 diff changeset	102	slave->sii_mailbox_protocols = 0;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	103	slave->type = NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	104	slave->registered = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	105	slave->fmmu_count = 0;
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	106	slave->eeprom_name = NULL;
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	107	slave->eeprom_group = NULL;
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	108	slave->eeprom_desc = NULL;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	109
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	110	ec_command_init(&slave->mbox_command);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	111
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	112	INIT_LIST_HEAD(&slave->eeprom_strings);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	113	INIT_LIST_HEAD(&slave->eeprom_syncs);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	114	INIT_LIST_HEAD(&slave->eeprom_pdos);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	115	INIT_LIST_HEAD(&slave->sdo_dictionary);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	116
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	117	for (i = 0; i < 2; i++) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	118	slave->dl_status_link[i] = 0;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	119	slave->dl_status_loop[i] = 0;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	120	slave->dl_status_comm[i] = 0;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	121	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	122
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	123	return 0;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	124	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	125
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	126	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	127
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	128	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	129	EtherCAT-Slave-Destruktor.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	130	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	131
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	132	void ec_slave_clear(struct kobject kobj /< KObject des Slaves /)
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	133	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	134	ec_slave_t *slave;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	135	ec_eeprom_string_t string, next_str;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	136	ec_eeprom_sync_t sync, next_sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	137	ec_eeprom_pdo_t pdo, next_pdo;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	138	ec_eeprom_pdo_entry_t entry, next_ent;
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	139	ec_sdo_t sdo, next_sdo;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	140	ec_sdo_entry_t en, next_en;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	141
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	142	slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	143
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	144	// Alle Strings freigeben
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	145	list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	146	list_del(&string->list);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	147	kfree(string);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	148	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	149
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	150	// Alle Sync-Manager freigeben
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	151	list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	152	list_del(&sync->list);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	153	kfree(sync);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	154	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	155
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	156	// Alle PDOs freigeben
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	157	list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	158	list_del(&pdo->list);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	159	if (pdo->name) kfree(pdo->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	160
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	161	// Alle Entries innerhalb eines PDOs freigeben
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	162	list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	163	list_del(&entry->list);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	164	if (entry->name) kfree(entry->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	165	kfree(entry);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	166	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	167
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	168	kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	169	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	170
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	171	if (slave->eeprom_name) kfree(slave->eeprom_name);
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	172	if (slave->eeprom_group) kfree(slave->eeprom_group);
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	173	if (slave->eeprom_desc) kfree(slave->eeprom_desc);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	174
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	175	// Alle SDOs freigeben
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	176	list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	177	list_del(&sdo->list);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	178	if (sdo->name) kfree(sdo->name);
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 160 diff changeset	179
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	180	// Alle Entries freigeben
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	181	list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	182	list_del(&en->list);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	183	kfree(en);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	184	}
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	185	kfree(sdo);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	186	}
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	187
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	188	ec_command_clear(&slave->mbox_command);
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	189	}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	190
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	191	/*****************************************************************************/
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	192
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	193	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	194	Liest alle benötigten Informationen aus einem Slave.
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	195
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	196	\return 0 wenn alles ok, < 0 bei Fehler.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	197	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	198
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	199	int ec_slave_fetch(ec_slave_t slave /< EtherCAT-Slave /)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	200	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	201	ec_command_t *command;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	202	unsigned int i;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	203	uint16_t dl_status;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	204
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	205	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	206
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	207	// Read base data
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	208	if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	209	if (unlikely(ec_master_simple_io(slave->master, command))) {
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	210	EC_ERR("Reading base data from slave %i failed!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	211	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	212	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	213	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	214
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	215	slave->base_type = EC_READ_U8 (command->data);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	216	slave->base_revision = EC_READ_U8 (command->data + 1);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	217	slave->base_build = EC_READ_U16(command->data + 2);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	218	slave->base_fmmu_count = EC_READ_U8 (command->data + 4);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	219	slave->base_sync_count = EC_READ_U8 (command->data + 5);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	220
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	221	if (slave->base_fmmu_count > EC_MAX_FMMUS)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	222	slave->base_fmmu_count = EC_MAX_FMMUS;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	223
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	224	// Read DL status
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	225	if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	226	if (unlikely(ec_master_simple_io(slave->master, command))) {
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	227	EC_ERR("Reading DL status from slave %i failed!\n",
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	228	slave->ring_position);
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	229	return -1;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	230	}
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	231
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	232	dl_status = EC_READ_U16(command->data);
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	233	for (i = 0; i < 2; i++) {
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	234	slave->dl_status_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	235	slave->dl_status_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	236	slave->dl_status_comm[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	237	}
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	238
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	239	// Read EEPROM data
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	240	if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	241	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	242	if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	243	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	244	if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	245	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	246	if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	247	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	248	if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	249	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	250	if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	251	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	252	if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	253	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	254	if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	255	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	256	if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	257	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	258	if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	259	return -1;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 132 diff changeset	260
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	261	if (unlikely(ec_slave_fetch_categories(slave))) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	262	EC_ERR("Failed to fetch category data!\n");
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	263	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	264	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	265
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	266	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	267	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	268
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	269	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	270
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	271	/**
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	272	Liest 16 Bit aus dem Slave-Information-Interface
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	273	eines EtherCAT-Slaves.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	274
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	275	\return 0 bei Erfolg, sonst < 0
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	276	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	277
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	278	int ec_slave_sii_read16(ec_slave_t *slave,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	279	/*< EtherCAT-Slave /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	280	uint16_t offset,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	281	/*< Adresse des zu lesenden SII-Registers /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	282	uint16_t *target
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	283	/*< Speicher für Wert (16-Bit) /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	284	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	285	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	286	ec_command_t *command;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	287	cycles_t start, end, timeout;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	288
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	289	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	290
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	291	// Initiate read operation
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	292	if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	293	EC_WRITE_U8 (command->data, 0x00); // read-only access
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	294	EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	295	EC_WRITE_U32(command->data + 2, offset);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	296	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	297	EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	298	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	299	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	300
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	301	// Der Slave legt die Informationen des Slave-Information-Interface
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	302	// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	303	// den Status auslesen, bis das Bit weg ist.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	304
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	305	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	306	timeout = (cycles_t) 100 * cpu_khz; // 100ms
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	307
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	308	while (1)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	309	{
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	310	udelay(10);
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	311
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	312	if (ec_command_nprd(command, slave->station_address, 0x502, 10))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	313	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	314	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	315	EC_ERR("Getting SII-read status failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	316	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	317	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	318	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	319
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	320	end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	321
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	322	if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	323	*target = EC_READ_U16(command->data + 6);
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	324	return 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	325	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	326
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	327	if (unlikely((end - start) >= timeout)) {
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	328	EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	329	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	330	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	331	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	332	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	333
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	334	/*****************************************************************************/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	335
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	336	/**
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	337	Liest 32 Bit aus dem Slave-Information-Interface
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	338	eines EtherCAT-Slaves.
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	339
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	340	\return 0 bei Erfolg, sonst < 0
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	341	*/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	342
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	343	int ec_slave_sii_read32(ec_slave_t *slave,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	344	/*< EtherCAT-Slave /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	345	uint16_t offset,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	346	/*< Adresse des zu lesenden SII-Registers /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	347	uint32_t *target
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	348	/*< Speicher für Wert (32-Bit) /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	349	)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	350	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	351	ec_command_t *command;
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	352	cycles_t start, end, timeout;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	353
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	354	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	355
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	356	// Initiate read operation
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	357	if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	358	EC_WRITE_U8 (command->data, 0x00); // read-only access
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	359	EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	360	EC_WRITE_U32(command->data + 2, offset);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	361	if (unlikely(ec_master_simple_io(slave->master, command))) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	362	EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	363	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	364	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	365
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	366	// Der Slave legt die Informationen des Slave-Information-Interface
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	367	// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	368	// den Status auslesen, bis das Bit weg ist.
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	369
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	370	start = get_cycles();
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	371	timeout = (cycles_t) 100 * cpu_khz; // 100ms
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	372
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	373	while (1)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	374	{
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	375	udelay(10);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	376
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	377	if (ec_command_nprd(command, slave->station_address, 0x502, 10))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	378	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	379	if (unlikely(ec_master_simple_io(slave->master, command))) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	380	EC_ERR("Getting SII-read status failed on slave %i!\n",
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	381	slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	382	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	383	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	384
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	385	end = get_cycles();
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	386
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	387	if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	388	*target = EC_READ_U32(command->data + 6);
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	389	return 0;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	390	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	391
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	392	if (unlikely((end - start) >= timeout)) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	393	EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	394	return -1;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	395	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	396	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	397	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	398
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	399	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	400
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	401	/**
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	402	Schreibt 16 Bit Daten in das Slave-Information-Interface
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	403	eines EtherCAT-Slaves.
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	404
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	405	\return 0 bei Erfolg, sonst < 0
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	406	*/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	407
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	408	int ec_slave_sii_write16(ec_slave_t *slave,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	409	/*< EtherCAT-Slave /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	410	uint16_t offset,
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	411	/*< Adresse des zu lesenden SII-Registers /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	412	uint16_t value
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	413	/*< Zu schreibender Wert /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	414	)
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	415	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	416	ec_command_t *command;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	417	cycles_t start, end, timeout;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	418
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	419	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	420
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	421	EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	422	slave->ring_position, offset, value);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	423
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	424	// Initiate write operation
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	425	if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	426	EC_WRITE_U8 (command->data, 0x01); // enable write access
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	427	EC_WRITE_U8 (command->data + 1, 0x02); // request write operation
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	428	EC_WRITE_U32(command->data + 2, offset);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	429	EC_WRITE_U16(command->data + 6, value);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	430	if (unlikely(ec_master_simple_io(slave->master, command))) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	431	EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	432	return -1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	433	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	434
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	435	// Der Slave legt die Informationen des Slave-Information-Interface
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	436	// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	437	// den Status auslesen, bis das Bit weg ist.
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	438
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	439	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	440	timeout = (cycles_t) 100 * cpu_khz; // 100ms
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	441
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	442	while (1)
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	443	{
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	444	udelay(10);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	445
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	446	if (ec_command_nprd(command, slave->station_address, 0x502, 2))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	447	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	448	if (unlikely(ec_master_simple_io(slave->master, command))) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	449	EC_ERR("Getting SII-write status failed on slave %i!\n",
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	450	slave->ring_position);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	451	return -1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	452	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	453
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	454	end = get_cycles();
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	455
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	456	if (likely((EC_READ_U8(command->data + 1) & 0x82) == 0)) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	457	if (EC_READ_U8(command->data + 1) & 0x40) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	458	EC_ERR("SII-write failed!\n");
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	459	return -1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	460	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	461	else {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	462	EC_INFO("SII-write succeeded!\n");
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	463	return 0;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	464	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	465	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	466
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	467	if (unlikely((end - start) >= timeout)) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	468	EC_ERR("SII-write: Slave %i timed out!\n", slave->ring_position);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	469	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	470	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	471	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	472	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	473
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	474	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	475
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	476	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	477	Holt Daten aus dem EEPROM.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	478
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	479	\return 0, wenn alles ok, sonst < 0
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	480	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	481
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	482	int ec_slave_fetch_categories(ec_slave_t slave /< EtherCAT-Slave /)
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	483	{
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	484	uint16_t word_offset, cat_type, word_count;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	485	uint32_t value;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	486	uint8_t *cat_data;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	487	unsigned int i;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	488
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	489	word_offset = 0x0040;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	490
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	491	if (!(cat_data = (uint8_t *) kmalloc(0x10000, GFP_KERNEL))) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	492	EC_ERR("Failed to allocate 64k bytes for category data.\n");
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	493	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	494	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	495
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	496	while (1) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	497	// read category type
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	498	if (ec_slave_sii_read32(slave, word_offset, &value)) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	499	EC_ERR("Unable to read category header.\n");
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	500	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	501	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	502
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	503	// Last category?
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	504	if ((value & 0xFFFF) == 0xFFFF) break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	505
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	506	cat_type = value & 0x7FFF;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	507	word_count = (value >> 16) & 0xFFFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	508
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	509	// Fetch category data
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	510	for (i = 0; i < word_count; i++) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	511	if (ec_slave_sii_read32(slave, word_offset + 2 + i, &value)) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	512	EC_ERR("Unable to read category data word %i.\n", i);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	513	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	514	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	515
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	516	cat_data[i * 2] = (value >> 0) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	517	cat_data[i * 2 + 1] = (value >> 8) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	518
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	519	// read second word "on the fly"
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	520	if (i + 1 < word_count) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	521	i++;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	522	cat_data[i * 2] = (value >> 16) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	523	cat_data[i * 2 + 1] = (value >> 24) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	524	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	525	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	526
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	527	switch (cat_type)
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	528	{
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	529	case 0x000A:
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	530	if (ec_slave_fetch_strings(slave, cat_data))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	531	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	532	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	533	case 0x001E:
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	534	if (ec_slave_fetch_general(slave, cat_data))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	535	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	536	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	537	case 0x0028:
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	538	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	539	case 0x0029:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	540	if (ec_slave_fetch_sync(slave, cat_data, word_count))
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	541	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	542	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	543	case 0x0032:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	544	if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_TX_PDO))
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	545	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	546	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	547	case 0x0033:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	548	if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_RX_PDO))
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	549	goto out_free;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	550	break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	551	default:
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	552	EC_WARN("Unknown category type 0x%04X in slave %i.\n",
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	553	cat_type, slave->ring_position);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	554	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	555
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	556	word_offset += 2 + word_count;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	557	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	558
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	559	kfree(cat_data);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	560	return 0;
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	561
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	562	out_free:
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	563	kfree(cat_data);
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	564	return -1;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	565	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	566
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	567	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	568
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	569	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	570	Holt die Daten einer String-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	571
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	572	\return 0 wenn alles ok, sonst < 0
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	573	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	574
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	575	int ec_slave_fetch_strings(ec_slave_t slave, /< EtherCAT-Slave /
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	576	const uint8_t data /< Kategoriedaten /
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	577	)
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	578	{
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	579	unsigned int string_count, i;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	580	size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	581	off_t offset;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	582	ec_eeprom_string_t *string;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	583
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	584	string_count = data[0];
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	585	offset = 1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	586	for (i = 0; i < string_count; i++) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	587	size = data[offset];
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	588	// Speicher für String-Objekt und Daten in einem Rutsch allozieren
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	589	if (!(string = (ec_eeprom_string_t *)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	590	kmalloc(sizeof(ec_eeprom_string_t) + size + 1, GFP_KERNEL))) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	591	EC_ERR("Failed to allocate string memory.\n");
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	592	return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	593	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	594	string->size = size;
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 160 diff changeset	595	// string memory appended to string structure
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	596	string->data = (char *) string + sizeof(ec_eeprom_string_t);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	597	memcpy(string->data, data + offset + 1, size);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	598	string->data[size] = 0x00;
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	599	list_add_tail(&string->list, &slave->eeprom_strings);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	600	offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	601	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	602
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	603	return 0;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	604	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	605
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	606	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	607
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	608	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	609	Holt die Daten einer General-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	610	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	611
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	612	int ec_slave_fetch_general(ec_slave_t slave, /< EtherCAT-Slave /
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	613	const uint8_t data /< Kategorie-Daten /
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	614	)
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	615	{
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	616	if (ec_slave_locate_string(slave, data[0], &slave->eeprom_group))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	617	return -1;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	618	if (ec_slave_locate_string(slave, data[1], &slave->eeprom_name))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	619	return -1;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	620	if (ec_slave_locate_string(slave, data[3], &slave->eeprom_desc))
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	621	return -1;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	622
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	623	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	624	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	625
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	626	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	627
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	628	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	629	Holt die Daten einer Sync-Manager-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	630	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	631
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	632	int ec_slave_fetch_sync(ec_slave_t slave, /< EtherCAT-Slave /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	633	const uint8_t data, /< Kategorie-Daten /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	634	size_t word_count /*< Anzahl Words /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	635	)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	636	{
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	637	unsigned int sync_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	638	ec_eeprom_sync_t *sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	639
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	640	sync_count = word_count / 4; // Sync-Manager-Strunktur ist 4 Worte lang
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	641
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	642	for (i = 0; i < sync_count; i++, data += 8) {
127 e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	643	if (!(sync = (ec_eeprom_sync_t *)
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	644	kmalloc(sizeof(ec_eeprom_sync_t), GFP_KERNEL))) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	645	EC_ERR("Failed to allocate Sync-Manager memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	646	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	647	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	648
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	649	sync->index = i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	650	sync->physical_start_address = ((uint16_t ) (data + 0));
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	651	sync->length = ((uint16_t ) (data + 2));
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	652	sync->control_register = data[4];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	653	sync->enable = data[6];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	654
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	655	list_add_tail(&sync->list, &slave->eeprom_syncs);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	656	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	657
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	658	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	659	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	660
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	661	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	662
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	663	/**
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	664	Holt die Daten einer TXPDO-Kategorie.
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	665	*/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	666
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	667	int ec_slave_fetch_pdo(ec_slave_t slave, /< EtherCAT-Slave /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	668	const uint8_t data, /< Kategorie-Daten /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	669	size_t word_count, /*< Anzahl Worte /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	670	ec_pdo_type_t pdo_type /*< PDO-Typ /
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	671	)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	672	{
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	673	ec_eeprom_pdo_t *pdo;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	674	ec_eeprom_pdo_entry_t *entry;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	675	unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	676
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	677	while (word_count >= 4) {
127 e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	678	if (!(pdo = (ec_eeprom_pdo_t *)
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt. Florian Pose <fp@igh-essen.com> parents: 126 diff changeset	679	kmalloc(sizeof(ec_eeprom_pdo_t), GFP_KERNEL))) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	680	EC_ERR("Failed to allocate PDO memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	681	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	682	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	683
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	684	INIT_LIST_HEAD(&pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	685	pdo->type = pdo_type;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	686
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	687	pdo->index = ((uint16_t ) data);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	688	entry_count = data[2];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	689	pdo->sync_manager = data[3];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	690	pdo->name = NULL;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	691	ec_slave_locate_string(slave, data[5], &pdo->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	692
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	693	list_add_tail(&pdo->list, &slave->eeprom_pdos);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	694
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	695	word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	696	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	697
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	698	for (i = 0; i < entry_count; i++) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	699	if (!(entry = (ec_eeprom_pdo_entry_t *)
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	700	kmalloc(sizeof(ec_eeprom_pdo_entry_t), GFP_KERNEL))) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	701	EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	702	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	703	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	704
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	705	entry->index = ((uint16_t ) data);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	706	entry->subindex = data[2];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	707	entry->name = NULL;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	708	ec_slave_locate_string(slave, data[3], &entry->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	709	entry->bit_length = data[5];
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	710
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	711	list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	712
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	713	word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	714	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	715	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	716	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	717
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	718	return 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	719	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	720
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	721	/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	722
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	723	/**
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	724	Durchsucht die temporären Strings und dupliziert den gefundenen String.
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	725	*/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	726
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	727	int ec_slave_locate_string(ec_slave_t slave, unsigned int index, char *ptr)
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	728	{
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	729	ec_eeprom_string_t *string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	730	char *err_string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	731
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	732	// Erst alten Speicher freigeben
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	733	if (*ptr) {
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	734	kfree(*ptr);
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	735	*ptr = NULL;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	736	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	737
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	738	// Index 0 bedeutet "nicht belegt"
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	739	if (!index) return 0;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	740
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	741	// EEPROM-String mit Index finden und kopieren
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	742	list_for_each_entry(string, &slave->eeprom_strings, list) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	743	if (--index) continue;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	744
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	745	if (!(ptr = (char ) kmalloc(string->size + 1, GFP_KERNEL))) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	746	EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	747	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	748	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	749	memcpy(*ptr, string->data, string->size + 1);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	750	return 0;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	751	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	752
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	753	EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	754
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	755	err_string = "(string not found)";
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	756
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	757	if (!(ptr = (char ) kmalloc(strlen(err_string) + 1, GFP_KERNEL))) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	758	EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	759	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	760	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	761
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	762	memcpy(*ptr, err_string, strlen(err_string) + 1);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	763	return 0;
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	764	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	765
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	766	/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	767
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	768	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	769	Bestätigt einen Fehler beim Zustandswechsel.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	770	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	771
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	772	void ec_slave_state_ack(ec_slave_t *slave,
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	773	/*< Slave, dessen Zustand geändert werden soll /
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	774	uint8_t state
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	775	/*< Alter Zustand /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	776	)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	777	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	778	ec_command_t *command;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	779	cycles_t start, end, timeout;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	780
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	781	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	782
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	783	if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	784	EC_WRITE_U16(command->data, state \| EC_ACK);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	785	if (unlikely(ec_master_simple_io(slave->master, command))) {
163 a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	786	EC_WARN("Acknowledge sending failed on slave %i!\n",
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	787	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	788	return;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	789	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	790
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	791	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	792	timeout = (cycles_t) 10 * cpu_khz; // 10ms
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	793
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	794	while (1)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	795	{
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	796	udelay(100); // Dem Slave etwas Zeit lassen...
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	797
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	798	if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	799	return;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	800	if (unlikely(ec_master_simple_io(slave->master, command))) {
163 a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	801	EC_WARN("Acknowledge checking failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	802	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	803	return;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	804	}
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	805
163 a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	806	end = get_cycles();
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	807
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	808	if (likely(EC_READ_U8(command->data) == state)) {
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	809	EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state,
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	810	slave->ring_position);
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	811	return;
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	812	}
a1eea08070e1 Fixed state acknowledgement. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	813
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	814	if (unlikely((end - start) >= timeout)) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	815	EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	816	" - Timeout!\n", state, slave->ring_position);
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	817	return;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	818	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	819	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	820	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	821
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	822	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	823
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	824	/**
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	825	Reads the AL status code of a slave and displays it.
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	826
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	827	If the AL status code is not supported, or if no error occurred (both
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	828	resulting in code=0), nothing is displayed.
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	829	*/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	830
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	831	void ec_slave_read_al_status_code(ec_slave_t slave /< EtherCAT-Slave /)
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	832	{
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	833	ec_command_t *command;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	834	uint16_t code;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	835	const ec_code_msg_t *al_msg;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	836
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	837	command = &slave->master->simple_command;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	838
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	839	if (ec_command_nprd(command, slave->station_address, 0x0134, 2)) return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	840	if (unlikely(ec_master_simple_io(slave->master, command))) {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	841	EC_WARN("Failed to read AL status code on slave %i!\n",
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	842	slave->ring_position);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	843	return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	844	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	845
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	846	if (!(code = EC_READ_U16(command->data))) return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	847
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	848	for (al_msg = al_status_messages; al_msg->code; al_msg++) {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	849	if (al_msg->code == code) {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	850	EC_ERR("AL status message 0x%04X: \"%s\".\n",
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	851	al_msg->code, al_msg->message);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	852	return;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	853	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	854	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	855
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	856	EC_ERR("Unknown AL status code 0x%04X.\n", code);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	857	}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	858
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	859	/*****************************************************************************/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	860
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	861	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	862	Ändert den Zustand eines Slaves.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	863
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	864	\return 0 bei Erfolg, sonst < 0
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	865	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	866
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	867	int ec_slave_state_change(ec_slave_t *slave,
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	868	/*< Slave, dessen Zustand geändert werden soll /
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	869	uint8_t state
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	870	/*< Neuer Zustand /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	871	)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	872	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	873	ec_command_t *command;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	874	cycles_t start, end, timeout;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	875
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	876	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	877
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	878	if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	879	EC_WRITE_U16(command->data, state);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	880	if (unlikely(ec_master_simple_io(slave->master, command))) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	881	EC_ERR("Failed to set state 0x%02X on slave %i!\n",
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	882	state, slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	883	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	884	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	885
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	886	start = get_cycles();
119 b2de89096010 Verschiedene Timeouts verl?ngert. Florian Pose <fp@igh-essen.com> parents: 118 diff changeset	887	timeout = (cycles_t) 10 * cpu_khz; // 10ms
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	888
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	889	while (1)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	890	{
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	891	udelay(100); // Dem Slave etwas Zeit lassen...
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	892
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	893	if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	894	return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	895	if (unlikely(ec_master_simple_io(slave->master, command))) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	896	EC_ERR("Failed to check state 0x%02X on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	897	state, slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	898	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	899	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	900
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	901	end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	902
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	903	if (unlikely(EC_READ_U8(command->data) & 0x10)) { // State change error
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	904	EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	905	" (code 0x%02X)!\n", state, slave->ring_position,
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	906	EC_READ_U8(command->data));
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	907	state = EC_READ_U8(command->data) & 0x0F;
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	908	ec_slave_read_al_status_code(slave);
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	909	ec_slave_state_ack(slave, state);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	910	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	911	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	912
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	913	if (likely(EC_READ_U8(command->data) == (state & 0x0F))) {
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	914	// State change successful
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	915	return 0;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	916	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	917
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	918	if (unlikely((end - start) >= timeout)) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	919	EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	920	state, slave->ring_position);
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	921	return -1;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	922	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	923	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	924	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	925
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	926	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	927
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	928	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	929	Merkt eine FMMU-Konfiguration vor.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	930
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	931	Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	932	entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	933	FMMUs konfiguriert.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	934
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	935	Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	936	Erfolg zurückgegeben.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	937
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	938	\return 0 bei Erfolg, sonst < 0
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	939	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	940
160 7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	941	int ec_slave_prepare_fmmu(ec_slave_t slave, /< EtherCAT-Slave /
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	942	const ec_domain_t domain, /< Domäne /
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	943	const ec_sync_t sync /< Sync-Manager /
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu(). Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	944	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	945	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	946	unsigned int i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	947
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	948	// FMMU schon vorgemerkt?
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	949	for (i = 0; i < slave->fmmu_count; i++)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	950	if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	951	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	952
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	953	// Neue FMMU reservieren...
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	954
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	955	if (slave->fmmu_count >= slave->base_fmmu_count) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	956	EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	957	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	958	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	959
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	960	slave->fmmus[slave->fmmu_count].domain = domain;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	961	slave->fmmus[slave->fmmu_count].sync = sync;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	962	slave->fmmus[slave->fmmu_count].logical_start_address = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	963	slave->fmmu_count++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	964	slave->registered = 1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	965
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	966	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	967	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	968
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	969	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	970
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	971	/**
122 132c3ffc8dea "kaputte" Umlaute korrigiert. Florian Pose <fp@igh-essen.com> parents: 121 diff changeset	972	Gibt alle Informationen über einen EtherCAT-Slave aus.
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	973
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	974	Verbosity:
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	975	0 - Nur Slavetypen und Adressen
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	976	1 - mit EEPROM-Informationen
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	977	>1 - mit SDO-Dictionaries
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	978	*/
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	979
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	980	void ec_slave_print(const ec_slave_t slave, /< EtherCAT-Slave /
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	981	unsigned int verbosity /*< Geschwätzigkeit /
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	982	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	983	{
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	984	ec_eeprom_sync_t *sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	985	ec_eeprom_pdo_t *pdo;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	986	ec_eeprom_pdo_entry_t *pdo_entry;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	987	ec_sdo_t *sdo;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	988	ec_sdo_entry_t *sdo_entry;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	989	int first, i;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	990
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	991	if (slave->type) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	992	EC_INFO("%i) %s %s: %s\n", slave->ring_position,
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	993	slave->type->vendor_name, slave->type->product_name,
b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	994	slave->type->description);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	995	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	996	else {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	997	EC_INFO("%i) UNKNOWN SLAVE: vendor 0x%08X, product 0x%08X\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	998	slave->ring_position, slave->sii_vendor_id,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	999	slave->sii_product_code);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1000	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1001
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1002	if (!verbosity) return;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1003
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1004	EC_INFO(" Station address: 0x%04X\n", slave->station_address);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1005
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1006	EC_INFO(" Data link status:\n");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1007	for (i = 0; i < 2; i++) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1008	EC_INFO(" Port %i: link %s, loop %s, comm %s\n", i,
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1009	slave->dl_status_link[i] ? "up" : "down",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1010	slave->dl_status_loop[i] ? "closed" : "open",
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1011	slave->dl_status_comm[i] ? "up" : "down");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1012	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1013
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1014	EC_INFO(" Base information:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1015	EC_INFO(" Type %u, revision %i, build %i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1016	slave->base_type, slave->base_revision, slave->base_build);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1017	EC_INFO(" Supported FMMUs: %i, sync managers: %i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1018	slave->base_fmmu_count, slave->base_sync_count);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1019
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1020	if (slave->sii_mailbox_protocols) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1021	EC_INFO(" Mailbox communication:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1022	EC_INFO(" RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1023	slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1024	slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1025	EC_INFO(" Supported protocols: ");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1026
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1027	first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1028	if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1029	printk("AoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1030	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1031	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1032	if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1033	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1034	printk("EoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1035	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1036	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1037	if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1038	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1039	printk("CoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1040	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1041	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1042	if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1043	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1044	printk("FoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1045	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1046	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1047	if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1048	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1049	printk("SoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1050	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1051	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1052	if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1053	if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1054	printk("VoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1055	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1056	printk("\n");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1057	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1058
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1059	EC_INFO(" EEPROM data:\n");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1060
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1061	if (slave->sii_alias)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1062	EC_INFO(" Configured station alias: 0x%04X (%i)\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1063	slave->sii_alias, slave->sii_alias);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1064
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1065	EC_INFO(" Vendor-ID: 0x%08X, Product code: 0x%08X\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1066	slave->sii_vendor_id, slave->sii_product_code);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1067	EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1068	slave->sii_revision_number, slave->sii_serial_number);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1069
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1070	if (slave->eeprom_name)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1071	EC_INFO(" Name: %s\n", slave->eeprom_name);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1072	if (slave->eeprom_group)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1073	EC_INFO(" Group: %s\n", slave->eeprom_group);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1074	if (slave->eeprom_desc)
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1075	EC_INFO(" Description: %s\n", slave->eeprom_desc);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1076
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1077	if (!list_empty(&slave->eeprom_syncs)) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1078	EC_INFO(" Sync-Managers:\n");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1079	list_for_each_entry(sync, &slave->eeprom_syncs, list) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1080	EC_INFO(" %i: 0x%04X, length %i, control 0x%02X, %s\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1081	sync->index, sync->physical_start_address,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1082	sync->length, sync->control_register,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1083	sync->enable ? "enable" : "disable");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1084	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1085	}
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1086
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1087	list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1088	EC_INFO(" %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1089	pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1090	pdo->name ? pdo->name : "???",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1091	pdo->index, pdo->sync_manager);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1092
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1093	list_for_each_entry(pdo_entry, &pdo->entries, list) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1094	EC_INFO(" \"%s\" 0x%04X:%X, %i Bit\n",
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1095	pdo_entry->name ? pdo_entry->name : "???",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1096	pdo_entry->index, pdo_entry->subindex,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	1097	pdo_entry->bit_length);
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	1098	}
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	1099	}
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	1100
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1101	if (verbosity < 2) return;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1102
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1103	if (!list_empty(&slave->sdo_dictionary)) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1104	EC_INFO(" SDO-Dictionary:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1105	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1106	EC_INFO(" 0x%04X \"%s\"\n", sdo->index,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1107	sdo->name ? sdo->name : "");
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	1108	EC_INFO(" Object code: 0x%02X\n", sdo->object_code);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1109	list_for_each_entry(sdo_entry, &sdo->entries, list) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1110	EC_INFO(" 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1111	sdo->index, sdo_entry->subindex,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1112	sdo_entry->name ? sdo_entry->name : "",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	1113	sdo_entry->data_type, sdo_entry->bit_length);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1114	}
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1115	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1116	}
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1117	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1118
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1119	/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1120
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1121	/**
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	1122	Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1123
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1124	\return 0 bei Erfolg, sonst < 0
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1125	*/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1126
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1127	int ec_slave_check_crc(ec_slave_t slave /< EtherCAT-Slave /)
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1128	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1129	ec_command_t *command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1130
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1131	command = &slave->master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1132
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1133	if (ec_command_nprd(command, slave->station_address, 0x0300, 4)) return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1134	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	1135	EC_WARN("Reading CRC fault counters failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	1136	slave->ring_position);
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1137	return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1138	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1139
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1140	// No CRC faults.
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1141	if (!EC_READ_U32(command->data)) return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1142
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1143	if (EC_READ_U8(command->data))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1144	EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1145	EC_READ_U8(command->data),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1146	EC_READ_U8(command->data) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1147	slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1148	if (EC_READ_U8(command->data + 1))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1149	EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1150	EC_READ_U8(command->data + 1),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1151	EC_READ_U8(command->data + 1) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1152	slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1153	if (EC_READ_U8(command->data + 2))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1154	EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1155	EC_READ_U8(command->data + 2),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1156	EC_READ_U8(command->data + 2) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1157	slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1158	if (EC_READ_U8(command->data + 3))
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1159	EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1160	EC_READ_U8(command->data + 3),
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1161	EC_READ_U8(command->data + 3) == 1 ? "" : "s",
132 63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert. Florian Pose <fp@igh-essen.com> parents: 127 diff changeset	1162	slave->ring_position);
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1163
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1164	// Reset CRC counters
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1165	if (ec_command_npwr(command, slave->station_address, 0x0300, 4)) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 142 diff changeset	1166	EC_WRITE_U32(command->data, 0x00000000);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1167	if (unlikely(ec_master_simple_io(slave->master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	1168	EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	1169	slave->ring_position);
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1170	return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1171	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1172
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1173	return 0;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1174	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1175
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1176	/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1177
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 132 diff changeset	1178	/**
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1179	Schreibt den "Configured station alias".
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1180	\return 0, wenn alles ok, sonst < 0
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1181	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1182
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1183	int ecrt_slave_write_alias(ec_slave_t slave, /* EtherCAT-Slave */
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1184	uint16_t alias /** Neuer Alias */
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1185	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1186	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1187	return ec_slave_sii_write16(slave, 0x0004, alias);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1188	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1189
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1190	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1191
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1192	/**
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1193	Formatiert Attribut-Daten für lesenden Zugriff im SysFS
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1194
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1195	\return Anzahl Bytes im Speicher
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1196	*/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1197
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1198	ssize_t ec_show_slave_attribute(struct kobject kobj, /< KObject /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1199	struct attribute attr, /< Attribut /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1200	char buffer /< Speicher für die Daten /
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1201	)
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1202	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1203	ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1204
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1205	if (attr == &attr_ring_position) {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1206	return sprintf(buffer, "%i\n", slave->ring_position);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1207	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1208
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1209	return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1210	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1211
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1212	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1213
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1214	const ec_code_msg_t al_status_messages[] = {
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1215	{0x0001, "Unspecified error"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1216	{0x0011, "Invalud requested state change"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1217	{0x0012, "Unknown requested state"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1218	{0x0013, "Bootstrap not supported"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1219	{0x0014, "No valid firmware"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1220	{0x0015, "Invalid mailbox configuration"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1221	{0x0016, "Invalid mailbox configuration"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1222	{0x0017, "Invalid sync manager configuration"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1223	{0x0018, "No valid inputs available"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1224	{0x0019, "No valid outputs"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1225	{0x001A, "Synchronisation error"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1226	{0x001B, "Sync manager watchdog"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1227	{0x0020, "Slave needs cold start"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1228	{0x0021, "Slave needs INIT"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1229	{0x0022, "Slave needs PREOP"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1230	{0x0023, "Slave needs SAVEOP"},
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1231	{}
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1232	};
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1233
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1234	/*****************************************************************************/
ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 163 diff changeset	1235
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1236	EXPORT_SYMBOL(ecrt_slave_write_alias);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1237
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1238	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1239
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1240	/* Emacs-Konfiguration
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1241	;;; Local Variables: ***
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	1242	;;; c-basic-offset:4 ***
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1243	;;; End: ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1244	*/
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	1245

author	Florian Pose <fp@igh-essen.com>
	Tue, 11 Apr 2006 09:12:00 +0000
changeset 182	8c0bc99229a9
parent 175	2e4b18203ade
child 183	8ae1e011e96c
permissions	-rw-r--r--