etherlabmaster: master/slave.c@93807963b906 (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	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	3	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	31	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	32	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36	EtherCAT slave methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	41	#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	42	#include <linux/delay.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	43
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	44	#include "globals.h"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	45	#include "datagram.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	46	#include "master.h"
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	47	#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	48
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	49	#include "slave.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	50
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	51	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	52
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	53	extern const ec_code_msg_t al_status_messages[];
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	54
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	55	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	56
404 7f7f429e13c7 Removed clear functions from headers of kobject-classes. Florian Pose <fp@igh-essen.com> parents: 403 diff changeset	57	void ec_slave_clear(struct kobject *);
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	58	void ec_slave_sdos_clear(struct kobject *);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	59	ssize_t ec_show_slave_attribute(struct kobject , struct attribute , char *);
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	60	ssize_t ec_store_slave_attribute(struct kobject , struct attribute ,
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	61	const char *, size_t);
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	62	char ec_slave_sii_string(ec_slave_t , unsigned int);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	63
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	64	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	65
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	66	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	67
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	68	EC_SYSFS_READ_ATTR(info);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	69	EC_SYSFS_READ_WRITE_ATTR(sii);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	70	EC_SYSFS_READ_WRITE_ATTR(alias);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	71
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	72	static struct attribute *def_attrs[] = {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	73	&attr_info,
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	74	&attr_sii,
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	75	&attr_alias,
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	76	NULL,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	77	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	78
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	79	static struct sysfs_ops sysfs_ops = {
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	80	.show = ec_show_slave_attribute,
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	81	.store = ec_store_slave_attribute
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	82	};
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	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	85	.release = ec_slave_clear,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	86	.sysfs_ops = &sysfs_ops,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	87	.default_attrs = def_attrs
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	88	};
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	89
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	90	static struct kobj_type ktype_ec_slave_sdos = {
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	91	.release = ec_slave_sdos_clear
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	92	};
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	93
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	94	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	95
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	96	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	97
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	98	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	99	Slave constructor.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	100	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	101	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	102
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	103	int ec_slave_init(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	104	ec_master_t master, /< EtherCAT master /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	105	uint16_t ring_position, /*< ring position /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	106	uint16_t station_address /*< station address to configure /
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	107	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	108	{
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	109	unsigned int i;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	110
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	111	slave->ring_position = ring_position;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	112	slave->station_address = station_address;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	113
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	114	slave->master = master;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	115
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	116	slave->config = NULL;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	117	slave->requested_state = EC_SLAVE_STATE_PREOP;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	118	slave->current_state = EC_SLAVE_STATE_UNKNOWN;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	119	slave->error_flag = 0;
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	120	slave->force_config = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	121
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	122	slave->base_type = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	123	slave->base_revision = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	124	slave->base_build = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	125	slave->base_fmmu_count = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	126
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	127	slave->sii_data = NULL;
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	128	slave->sii_size = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	129
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	130	slave->sii.alias = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	131	slave->sii.vendor_id = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	132	slave->sii.product_code = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	133	slave->sii.revision_number = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	134	slave->sii.serial_number = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	135	slave->sii.rx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	136	slave->sii.rx_mailbox_size = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	137	slave->sii.tx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	138	slave->sii.tx_mailbox_size = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	139	slave->sii.mailbox_protocols = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	140
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	141	slave->sii.strings = NULL;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	142	slave->sii.string_count = 0;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	143
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	144	slave->sii.has_general = 0;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	145	slave->sii.group = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	146	slave->sii.image = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	147	slave->sii.order = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	148	slave->sii.name = NULL;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	149	memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836 860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	150	memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	151	slave->sii.current_on_ebus = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	152
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	153	slave->sii.syncs = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	154	slave->sii.sync_count = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	155
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	156	INIT_LIST_HEAD(&slave->sii.pdos);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	157
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	158	INIT_LIST_HEAD(&slave->sdo_dictionary);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	159
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	160	slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	161	slave->jiffies_preop = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	162
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	163	for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	164	slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	165	slave->dl_loop[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	166	slave->dl_signal[i] = 0;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	167	slave->sii.physical_layer[i] = 0xFF;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	168	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	169
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	170	// init kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	171	memset(&slave->kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	172	kobject_init(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	173	slave->kobj.ktype = &ktype_ec_slave;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	174	slave->kobj.parent = &master->kobj;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	175	if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	176	EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	177	goto out_slave_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	178	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	179	if (kobject_add(&slave->kobj)) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	180	EC_ERR("Failed to add slave's kobject.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	181	goto out_slave_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	182	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	183
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	184	// init Sdo kobject and add it to the hierarchy
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	185	memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	186	kobject_init(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	187	slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	188	slave->sdo_kobj.parent = &slave->kobj;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	189	if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	190	EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	191	goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	192	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	193	if (kobject_add(&slave->sdo_kobj)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	194	EC_ERR("Failed to add Sdos kobject.\n");
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	195	goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	196	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	197
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	198	return 0;
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	199
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	200	out_sdo_put:
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	201	kobject_put(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	202	kobject_del(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	203	out_slave_put:
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	204	kobject_put(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	205	return -1;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	206	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	207
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	208	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	209
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	210	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	211	Slave destructor.
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	212	Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	213	*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	214
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	215	void ec_slave_destroy(ec_slave_t slave /< EtherCAT slave /)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	216	{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	217	ec_sdo_t sdo, next_sdo;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	218
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	219	if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	220	ec_slave_config_detach(slave->config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	221
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	222	// free all Sdos
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	223	list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	224	list_del(&sdo->list);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	225	ec_sdo_destroy(sdo);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	226	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	227
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	228	// free Sdo kobject
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	229	kobject_del(&slave->sdo_kobj);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	230	kobject_put(&slave->sdo_kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	231
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	232	// destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	233	kobject_del(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	234	kobject_put(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	235	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	236
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	237	/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	238
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	239	/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	240	Clear and free slave.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	241	This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	242	once there are no more references to it.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	243	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	244
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	245	void ec_slave_clear(struct kobject kobj /< kobject of the slave /)
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	246	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	247	ec_slave_t *slave;
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	248	ec_pdo_t pdo, next_pdo;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	249	unsigned int i;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	250
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	251	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	252
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	253	// free all strings
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	254	if (slave->sii.strings) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	255	for (i = 0; i < slave->sii.string_count; i++)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	256	kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	257	kfree(slave->sii.strings);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	258	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	259
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	260	// free all sync managers
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	261	ec_slave_clear_sync_managers(slave);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	262
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	263	// free all SII Pdos
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	264	list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	265	list_del(&pdo->list);
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	266	ec_pdo_clear(pdo);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	267	kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	268	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	269
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	270	if (slave->sii_data)
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	271	kfree(slave->sii_data);
418 7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 416 diff changeset	272
7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 416 diff changeset	273	kfree(slave);
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	274	}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	275
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	276	/*****************************************************************************/
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	277
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	278	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	279	* Sdo kobject clear method.
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	280	*/
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	281
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	282	void ec_slave_sdos_clear(struct kobject kobj /< kobject for Sdos /)
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	283	{
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	284	}
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	285
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	286	/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	287
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	288	/** Clear the sync manager array.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	289	*/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	290	void ec_slave_clear_sync_managers(ec_slave_t slave /< EtherCAT slave. /)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	291	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	292	unsigned int i;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	293
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	294	if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	295	for (i = 0; i < slave->sii.sync_count; i++) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	296	ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	297	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	298	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	299	slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	300	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	301	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	302
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	303	/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	304
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	305	/**
610 29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	306	* Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	307	*/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	308
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	309	void ec_slave_set_state(ec_slave_t slave, /< EtherCAT slave /
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	310	ec_slave_state_t new_state /*< new application state /
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	311	)
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	312	{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	313	if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	314	if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	315	char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	316	cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	317	ec_state_string(slave->current_state, old_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	318	ec_state_string(new_state, cur_state);
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	319	EC_DBG("Slave %u: %s -> %s.\n",
610 29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	320	slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	321	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	322	slave->current_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	323	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	324	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	325
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	326	/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	327
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	328	/**
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	329	* Request a slave state and resets the error flag.
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	330	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	331
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	332	void ec_slave_request_state(ec_slave_t slave, /< EtherCAT slave /
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	333	ec_slave_state_t state /*< new state /
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	334	)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	335	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	336	slave->requested_state = state;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	337	slave->error_flag = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	338	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	339
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	340	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	341
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	342	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	343	Fetches data from a STRING category.
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	344	\todo range checking
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	345	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	346	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	347
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	348	int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	349	ec_slave_t slave, /< EtherCAT slave /
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	350	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	351	size_t data_size /*< number of bytes /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	352	)
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	353	{
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	354	int i;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	355	size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	356	off_t offset;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	357
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	358	slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	359
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	360	if (!slave->sii.string_count)
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	361	return 0;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	362
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	363	if (!(slave->sii.strings =
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	364	kmalloc(sizeof(char ) slave->sii.string_count,
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	365	GFP_KERNEL))) {
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	366	EC_ERR("Failed to allocate string array memory.\n");
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	367	goto out_zero;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	368	}
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	369
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	370	offset = 1;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	371	for (i = 0; i < slave->sii.string_count; i++) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	372	size = data[offset];
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	373	// allocate memory for string structure and data at a single blow
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	374	if (!(slave->sii.strings[i] =
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	375	kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	376	EC_ERR("Failed to allocate string memory.\n");
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	377	goto out_free;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	378	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	379	memcpy(slave->sii.strings[i], data + offset + 1, size);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	380	slave->sii.strings[i][size] = 0x00; // append binary zero
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	381	offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	382	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	383
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	384	return 0;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	385
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	386	out_free:
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	387	for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	388	kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	389	slave->sii.strings = NULL;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	390	out_zero:
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	391	slave->sii.string_count = 0;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	392	return -1;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	393	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	394
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	395	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	396
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	397	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	398	Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	399	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	400	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	401
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	402	int ec_slave_fetch_sii_general(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	403	ec_slave_t slave, /< EtherCAT slave /
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	404	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	405	size_t data_size /*< size in bytes /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	406	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	407	{
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	408	unsigned int i;
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	409	uint8_t flags;
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	410
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	411	if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	412	EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	413	data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	414	return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	415	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	416
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	417	slave->sii.group = ec_slave_sii_string(slave, data[0]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	418	slave->sii.image = ec_slave_sii_string(slave, data[1]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	419	slave->sii.order = ec_slave_sii_string(slave, data[2]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	420	slave->sii.name = ec_slave_sii_string(slave, data[3]);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	421
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	422	for (i = 0; i < 4; i++)
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	423	slave->sii.physical_layer[i] =
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	424	(data[4] & (0x03 << (i * 2))) >> (i * 2);
499 fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	425
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	426	// read CoE details
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	427	flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	428	slave->sii.coe_details.enable_sdo = (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	429	slave->sii.coe_details.enable_sdo_info = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	430	slave->sii.coe_details.enable_pdo_assign = (flags >> 2) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	431	slave->sii.coe_details.enable_pdo_configuration = (flags >> 3) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	432	slave->sii.coe_details.enable_upload_at_startup = (flags >> 4) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	433	slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	434
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	435	// read general flags
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	436	flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	437	slave->sii.general_flags.enable_safeop = (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	438	slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	439
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	440	slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	441	slave->sii.has_general = 1;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	442	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	443	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	444
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	445	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	446
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	447	/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	448	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	449	* Appends the sync managers described in the category to the existing ones.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	450	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	451	* \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	452	*/
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	453	int ec_slave_fetch_sii_syncs(
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	454	ec_slave_t slave, /< EtherCAT slave. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	455	const uint8_t data, /< Category data. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	456	size_t data_size /*< Number of bytes. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	457	)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	458	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	459	unsigned int i, count, total_count;
626 a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t. Florian Pose <fp@igh-essen.com> parents: 625 diff changeset	460	ec_sync_t *sync;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	461	size_t memsize;
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	462	ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	463	uint8_t index;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	464
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	465	// one sync manager struct is 4 words long
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	466	if (data_size % 8) {
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	467	EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	468	data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	469	return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	470	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	471
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	472	count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	473
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	474	if (count) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	475	total_count = count + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	476	memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	477	if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	478	EC_ERR("Failed to allocate %u bytes for sync managers.\n",
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	479	memsize);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	480	return -1;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	481	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	482
873 ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	483	for (i = 0; i < slave->sii.sync_count; i++)
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	484	ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	485
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	486	// initialize new sync managers
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	487	for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	488	index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	489	sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	490
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	491	ec_sync_init(sync, slave, index);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	492	sync->physical_start_address = EC_READ_U16(data);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	493	sync->length = EC_READ_U16(data + 2);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	494	sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	495	sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	496	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	497
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	498	if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	499	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	500	slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	501	slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	502	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	503
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	504	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	505	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	506
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	507	/*****************************************************************************/
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	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	510	Fetches data from a [RT]XPdo category.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	511	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	512	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	513
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	514	int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	515	ec_slave_t slave, /< EtherCAT slave /
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	516	const uint8_t data, /< category data /
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	517	size_t data_size, /*< number of bytes /
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	518	ec_direction_t dir /*< Pdo direction. /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	519	)
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	520	{
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	521	ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	522	ec_pdo_entry_t *entry;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	523	unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	524
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	525	while (data_size >= 8) {
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	526	if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	527	EC_ERR("Failed to allocate Pdo memory.\n");
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	528	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	529	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	530
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	531	ec_pdo_init(pdo);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	532	pdo->dir = dir;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	533	pdo->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	534	entry_count = EC_READ_U8(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	535	pdo->sync_index = EC_READ_U8(data + 3);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	536	if (ec_pdo_set_name(pdo,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	537	ec_slave_sii_string(slave, EC_READ_U8(data + 5)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	538	ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	539	kfree(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	540	return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	541	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	542	list_add_tail(&pdo->list, &slave->sii.pdos);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	543
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	544	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	545	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	546
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	547	for (i = 0; i < entry_count; i++) {
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	548	if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	549	EC_ERR("Failed to allocate Pdo entry memory.\n");
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	550	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	551	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	552
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	553	ec_pdo_entry_init(entry);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	554	entry->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	555	entry->subindex = EC_READ_U8(data + 2);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	556	if (ec_pdo_entry_set_name(entry,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	557	ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	558	ec_pdo_entry_clear(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	559	kfree(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	560	return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	561	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	562	entry->bit_length = EC_READ_U8(data + 5);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	563	list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	564
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	565	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	566	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	567	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	568
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	569	// if sync manager index is positive, the Pdo is mapped by default
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	570	if (pdo->sync_index >= 0) {
762 15214036c72a Store PDO mapping source in sync manager. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	571	ec_sync_t *sync;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	572
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	573	if (pdo->sync_index >= slave->sii.sync_count) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	574	EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	575	pdo->sync_index, pdo->index, slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	576	return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	577	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	578	sync = &slave->sii.syncs[pdo->sync_index];
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	579
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	580	if (ec_pdo_list_add_pdo_copy(&sync->pdos, pdo))
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	581	return -1;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	582
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	583	sync->assign_source = EC_ASSIGN_SII;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	584	}
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	585	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	586
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	587	return 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	588	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	589
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	590	/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	591
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	592	/**
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	593	Searches the string list for an index.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	594	\return 0 in case of success, else < 0
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	595	*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	596
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	597	char *ec_slave_sii_string(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	598	ec_slave_t slave, /< EtherCAT slave /
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	599	unsigned int index /*< string index /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	600	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	601	{
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	602	if (!index--)
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	603	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	604
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	605	if (index >= slave->sii.string_count) {
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	606	if (slave->master->debug_level)
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	607	EC_WARN("String %u not found in slave %u.\n",
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	608	index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	609	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	610	}
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	611
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	612	return slave->sii.strings[index];
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	613	}
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
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	617	/** Outputs all information about a certain slave.
630 1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	618	*/
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	619	ssize_t ec_slave_info(const ec_slave_t slave, /< EtherCAT slave /
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	620	char buffer /< Output buffer /
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	621	)
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	622	{
871 5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	623	const ec_sync_t *sync;
5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	624	const ec_pdo_t *pdo;
5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	625	const ec_pdo_entry_t *pdo_entry;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	626	int first, i;
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	627	char large_buffer, buf;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	628	unsigned int size;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	629
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	630	if (!(large_buffer = (char ) kmalloc(PAGE_SIZE 2, GFP_KERNEL))) {
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	631	return -ENOMEM;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	632	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	633
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	634	buf = large_buffer;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	635
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	636	buf += sprintf(buf, "Ring position: %u\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	637	slave->ring_position);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	638	buf += sprintf(buf, "State: ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	639	buf += ec_state_string(slave->current_state, buf);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	640	buf += sprintf(buf, " (");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	641	buf += ec_state_string(slave->requested_state, buf);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	642	buf += sprintf(buf, ")\n");
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	643	buf += sprintf(buf, "Flags: %s\n\n", slave->error_flag ? "ERROR" : "ok");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	644
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	645	buf += sprintf(buf, "Data link status:\n");
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	646	for (i = 0; i < 4; i++) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	647	buf += sprintf(buf, " Port %u: Phy %u (",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	648	i, slave->sii.physical_layer[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	649	switch (slave->sii.physical_layer[i]) {
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	650	case 0x00:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	651	buf += sprintf(buf, "EBUS");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	652	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	653	case 0x01:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	654	buf += sprintf(buf, "100BASE-TX");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	655	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	656	case 0x02:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	657	buf += sprintf(buf, "100BASE-FX");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	658	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	659	default:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	660	buf += sprintf(buf, "unknown");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	661	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	662	buf += sprintf(buf, "), Link %s, Loop %s, %s\n",
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	663	slave->dl_link[i] ? "up" : "down",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	664	slave->dl_loop[i] ? "closed" : "open",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	665	slave->dl_signal[i] ? "Signal detected" : "No signal");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	666	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	667	buf += sprintf(buf, "\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	668
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	669	if (slave->sii.alias)
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	670	buf += sprintf(buf, "Configured station alias:"
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	671	" 0x%04X (%u)\n\n", slave->sii.alias, slave->sii.alias);
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	672
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	673	buf += sprintf(buf, "Identity:\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	674	buf += sprintf(buf, " Vendor ID: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	675	slave->sii.vendor_id, slave->sii.vendor_id);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	676	buf += sprintf(buf, " Product code: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	677	slave->sii.product_code, slave->sii.product_code);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	678	buf += sprintf(buf, " Revision number: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	679	slave->sii.revision_number, slave->sii.revision_number);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	680	buf += sprintf(buf, " Serial number: 0x%08X (%u)\n\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	681	slave->sii.serial_number, slave->sii.serial_number);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	682
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	683	if (slave->sii.mailbox_protocols) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	684	buf += sprintf(buf, "Mailboxes:\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	685	buf += sprintf(buf, " RX: 0x%04X/%u, TX: 0x%04X/%u\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	686	slave->sii.rx_mailbox_offset, slave->sii.rx_mailbox_size,
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	687	slave->sii.tx_mailbox_offset, slave->sii.tx_mailbox_size);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	688	buf += sprintf(buf, " Supported protocols: ");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	689
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	690	first = 1;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	691	if (slave->sii.mailbox_protocols & EC_MBOX_AOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	692	buf += sprintf(buf, "AoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	693	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	694	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	695	if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	696	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	697	buf += sprintf(buf, "EoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	698	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	699	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	700	if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	701	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	702	buf += sprintf(buf, "CoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	703	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	704	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	705	if (slave->sii.mailbox_protocols & EC_MBOX_FOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	706	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	707	buf += sprintf(buf, "FoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	708	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	709	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	710	if (slave->sii.mailbox_protocols & EC_MBOX_SOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	711	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	712	buf += sprintf(buf, "SoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	713	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	714	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	715	if (slave->sii.mailbox_protocols & EC_MBOX_VOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	716	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	717	buf += sprintf(buf, "VoE");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	718	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	719	buf += sprintf(buf, "\n\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	720	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	721
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	722	if (slave->sii.has_general) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	723	buf += sprintf(buf, "General:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	724
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	725	if (slave->sii.group)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	726	buf += sprintf(buf, " Group: %s\n", slave->sii.group);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	727	if (slave->sii.image)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	728	buf += sprintf(buf, " Image: %s\n", slave->sii.image);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	729	if (slave->sii.order)
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	730	buf += sprintf(buf, " Order number: %s\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	731	slave->sii.order);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	732	if (slave->sii.name)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	733	buf += sprintf(buf, " Name: %s\n", slave->sii.name);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	734	if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	735	buf += sprintf(buf, " CoE details:\n");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	736	buf += sprintf(buf, " Enable Sdo: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	737	slave->sii.coe_details.enable_sdo ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	738	buf += sprintf(buf, " Enable Sdo Info: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	739	slave->sii.coe_details.enable_sdo_info ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	740	buf += sprintf(buf, " Enable Pdo Assign: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	741	slave->sii.coe_details.enable_pdo_assign ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	742	buf += sprintf(buf, " Enable Pdo Configuration: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	743	slave->sii.coe_details.enable_pdo_configuration ?
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	744	"yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	745	buf += sprintf(buf, " Enable Upload at startup: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	746	slave->sii.coe_details.enable_upload_at_startup ?
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	747	"yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	748	buf += sprintf(buf, " Enable Sdo complete access: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	749	slave->sii.coe_details.enable_sdo_complete_access
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	750	? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	751	}
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	752
836 860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	753	buf += sprintf(buf, " Flags:\n");
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	754	buf += sprintf(buf, " Enable SafeOp: %s\n",
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	755	slave->sii.general_flags.enable_safeop ? "yes" : "no");
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	756	buf += sprintf(buf, " Enable notLRW: %s\n",
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	757	slave->sii.general_flags.enable_not_lrw ? "yes" : "no");
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	758	buf += sprintf(buf, " Current consumption: %i mA\n\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	759	slave->sii.current_on_ebus);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	760	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	761
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	762	if (slave->sii.sync_count) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	763	buf += sprintf(buf, "Sync managers / assigned Pdos:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	764
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	765	for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	766	sync = &slave->sii.syncs[i];
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	767	buf += sprintf(buf,
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	768	" SM%u: addr 0x%04X, size %u, control 0x%02X, %s\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	769	sync->index, sync->physical_start_address,
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	770	sync->length, sync->control_register,
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	771	sync->enable ? "enable" : "disable");
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	772
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	773	if (list_empty(&sync->pdos.list)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	774	buf += sprintf(buf, " No Pdos assigned.\n");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	775	} else if (sync->assign_source != EC_ASSIGN_NONE) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	776	buf += sprintf(buf, " Pdo assignment from ");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	777	switch (sync->assign_source) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	778	case EC_ASSIGN_SII:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	779	buf += sprintf(buf, "SII");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	780	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	781	case EC_ASSIGN_COE:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	782	buf += sprintf(buf, "CoE");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	783	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	784	case EC_ASSIGN_CUSTOM:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	785	buf += sprintf(buf, "application");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	786	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	787	default:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	788	buf += sprintf(buf, "?");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	789	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	790	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	791	buf += sprintf(buf, ".\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	792	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	793
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	794	list_for_each_entry(pdo, &sync->pdos.list, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	795	buf += sprintf(buf, " %s 0x%04X \"%s\"\n",
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	796	pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	797	pdo->index, pdo->name ? pdo->name : "???");
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	798
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	799	list_for_each_entry(pdo_entry, &pdo->entries, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	800	buf += sprintf(buf,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	801	" 0x%04X:%02X, %u bit, \"%s\"\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	802	pdo_entry->index, pdo_entry->subindex,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	803	pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	804	pdo_entry->name ? pdo_entry->name : "???");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	805	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	806	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	807	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	808	buf += sprintf(buf, "\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	809	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	810
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	811	// type-cast to avoid warnings on some compilers
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	812	if (!list_empty((struct list_head *) &slave->sii.pdos)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	813	buf += sprintf(buf, "Available Pdos from SII:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	814
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	815	list_for_each_entry(pdo, &slave->sii.pdos, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	816	buf += sprintf(buf, " %s 0x%04X \"%s\"",
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	817	pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	818	pdo->index, pdo->name ? pdo->name : "???");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	819	if (pdo->sync_index >= 0)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	820	buf += sprintf(buf, ", default assignment: SM%u.\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	821	pdo->sync_index);
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	822	else
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	823	buf += sprintf(buf, ", no default assignment.\n");
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	824
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	825	list_for_each_entry(pdo_entry, &pdo->entries, list) {
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	826	buf += sprintf(buf, " 0x%04X:%02X, %u bit, \"%s\"\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	827	pdo_entry->index, pdo_entry->subindex,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	828	pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	829	pdo_entry->name ? pdo_entry->name : "???");
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	830	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	831	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	832	buf += sprintf(buf, "\n");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	833	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	834
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	835	size = buf - large_buffer;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	836	if (size >= PAGE_SIZE) {
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	837	const char trunc[] = "\n---TRUNCATED---\n";
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	838	unsigned int len = strlen(trunc);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	839	memcpy(large_buffer + PAGE_SIZE - len, trunc, len);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	840	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	841
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	842	size = min(size, (unsigned int) PAGE_SIZE);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	843	memcpy(buffer, large_buffer, size);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	844	kfree(large_buffer);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	845	return size;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	846	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	847
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	848	/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	849
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	850	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	851	* Schedules an SII write request.
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	852	* \return 0 case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	853	*/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	854
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	855	int ec_slave_schedule_sii_writing(
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	856	ec_sii_write_request_t request /< SII write request /
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	857	)
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	858	{
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	859	ec_master_t *master = request->slave->master;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	860
649 a4d3fffdaed7 Renamed names of enum type ec_request_state_t. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	861	request->state = EC_REQUEST_QUEUED;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	862
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	863	// schedule SII write request.
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	864	down(&master->sii_sem);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	865	list_add_tail(&request->list, &master->sii_requests);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	866	up(&master->sii_sem);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	867
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	868	// wait for processing through FSM
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	869	if (wait_event_interruptible(master->sii_queue,
649 a4d3fffdaed7 Renamed names of enum type ec_request_state_t. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	870	request->state != EC_REQUEST_QUEUED)) {
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	871	// interrupted by signal
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	872	down(&master->sii_sem);
649 a4d3fffdaed7 Renamed names of enum type ec_request_state_t. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	873	if (request->state == EC_REQUEST_QUEUED) {
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	874	list_del(&request->list);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	875	up(&master->sii_sem);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	876	return -EINTR;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	877	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	878	// request already processing: interrupt not possible.
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	879	up(&master->sii_sem);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	880	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	881
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	882	// wait until master FSM has finished processing
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	883	wait_event(master->sii_queue,
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 856 diff changeset	884	request->state != EC_REQUEST_BUSY);
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 856 diff changeset	885
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 856 diff changeset	886	return request->state == EC_REQUEST_SUCCESS ? 0 : -EIO;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	887	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	888
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	889	/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	890
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	891	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	892	* Calculates the SII checksum field.
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	893	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	894	* The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	895	* initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	896	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	897	* The below code was originally generated with PYCRC
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	898	* http://www.tty1.net/pycrc
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	899	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	900	* ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	901	* --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	902	*
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	903	* \return CRC8
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	904	*/
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	905
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	906	uint8_t ec_slave_sii_crc(
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	907	const uint8_t data, /< pointer to data /
8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	908	size_t length /*< number of bytes in \a data /
8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	909	)
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	910	{
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	911	unsigned int i;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	912	uint8_t bit, byte, crc = 0x48;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	913
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	914	while (length--) {
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	915	byte = *data++;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	916	for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	917	bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	918	crc = (crc << 1) \| ((byte >> (7 - i)) & 0x01);
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	919	if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	920	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	921	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	922
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	923	for (i = 0; i < 8; i++) {
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	924	bit = crc & 0x80;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	925	crc <<= 1;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	926	if (bit) crc ^= 0x07;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	927	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	928
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	929	return crc;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	930	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	931
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	932	/*****************************************************************************/
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	933
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	934	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	935	* Writes complete SII contents to a slave.
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	936	* \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	937	*/
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	938
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	939	ssize_t ec_slave_write_sii(ec_slave_t slave, /< EtherCAT slave /
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	940	const uint8_t data, /< new SII data /
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	941	size_t size /*< size of data in bytes /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	942	)
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	943	{
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	944	ec_sii_write_request_t request;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	945	const uint16_t *cat_header;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	946	uint16_t cat_type, cat_size;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	947	int ret;
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	948	uint8_t crc;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	949
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	950	if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	951	EC_ERR("Writing SIIs only allowed in idle mode!\n");
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	952	return -EBUSY;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	953	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	954
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	955	if (size % 2) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	956	EC_ERR("SII data size is odd (%u bytes)! SII data must be"
856 7b8be5c61d92 Improved error messages on EEPROM writing. Florian Pose <fp@igh-essen.com> parents: 839 diff changeset	957	" word-aligned. Dropping.\n", size);
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	958	return -EINVAL;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	959	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	960
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	961	// init SII write request
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	962	INIT_LIST_HEAD(&request.list);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	963	request.slave = slave;
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	964	request.data = data;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	965	request.word_offset = 0;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	966	request.word_size = size / 2;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	967
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	968	if (request.word_size < 0x0041) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	969	EC_ERR("SII data too short (%u words)! Mimimum is"
856 7b8be5c61d92 Improved error messages on EEPROM writing. Florian Pose <fp@igh-essen.com> parents: 839 diff changeset	970	" 40 fixed words + 1 delimiter. Dropping.\n",
7b8be5c61d92 Improved error messages on EEPROM writing. Florian Pose <fp@igh-essen.com> parents: 839 diff changeset	971	request.word_size);
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	972	return -EINVAL;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	973	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	974
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	975	// calculate checksum
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	976	crc = ec_slave_sii_crc(data, 14); // CRC over words 0 to 6
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	977	if (crc != data[14]) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	978	EC_WARN("SII CRC incorrect. Must be 0x%02x.\n", crc);
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	979	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	980
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	981	cat_header = (const uint16_t *) request.data
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	982	+ EC_FIRST_SII_CATEGORY_OFFSET;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	983	cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	984	while (cat_type != 0xFFFF) { // cycle through categories
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	985	if (cat_header + 1 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	986	(const uint16_t *) request.data + request.word_size) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	987	EC_ERR("SII data corrupted! Dropping.\n");
599 a6ce861a167e ec_slave_write_eeprom now returns certain error codes. Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	988	return -EINVAL;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	989	}
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	990	cat_size = EC_READ_U16(cat_header + 1);
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	991	if (cat_header + cat_size + 2 >
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	992	(const uint16_t *) request.data + request.word_size) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	993	EC_ERR("SII data corrupted! Dropping.\n");
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	994	return -EINVAL;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	995	}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	996	cat_header += cat_size + 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	997	cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	998	}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	999
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1000	// SII data ok. schedule writing.
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1001	if ((ret = ec_slave_schedule_sii_writing(&request)))
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1002	return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1003
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1004	return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1005	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1006
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1007	/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1008
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1009	/**
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1010	* Writes the Secondary slave address (alias) to the slave's SII.
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1011	* \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1012	*/
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1013
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1014	ssize_t ec_slave_write_alias(ec_slave_t slave, /< EtherCAT slave /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1015	const uint8_t data, /< alias string /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1016	size_t size /*< size of data in bytes /
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1017	)
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1018	{
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1019	ec_sii_write_request_t request;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1020	char *remainder;
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1021	uint16_t alias;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1022	int ret;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1023	uint8_t sii_data[16], crc;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1024
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1025	if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1026	EC_ERR("Writing to SII is only allowed in idle mode!\n");
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1027	return -EBUSY;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1028	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1029
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1030	alias = simple_strtoul(data, &remainder, 0);
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1031	if (remainder == (char ) data \|\| (remainder && *remainder != '\n')) {
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1032	EC_ERR("Invalid alias value! Dropping.\n");
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1033	return -EINVAL;
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1034	}
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1035
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1036	if (!slave->sii_data \|\| slave->sii_size < 16) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1037	EC_ERR("Failed to read SII contents from slave %u.\n",
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1038	slave->ring_position);
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1039	return -EINVAL;
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1040	}
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1041
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1042	// copy first 7 words of recent SII contents
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1043	memcpy(sii_data, slave->sii_data, 14);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1044
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1045	// write new alias address in word 4
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1046	EC_WRITE_U16(sii_data + 8, alias);
735 0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1047
0773628aabab Calculate checksum when writing EEPROM or alias address. Florian Pose <fp@igh-essen.com> parents: 730 diff changeset	1048	// calculate new checksum over words 0 to 6
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1049	crc = ec_slave_sii_crc(sii_data, 14);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1050	EC_WRITE_U16(sii_data + 14, crc);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1051
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1052	// init SII write request
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1053	INIT_LIST_HEAD(&request.list);
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1054	request.slave = slave;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1055	request.data = sii_data;
754 0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1056	request.word_offset = 0x0000;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte. Florian Pose <fp@igh-essen.com> parents: 750 diff changeset	1057	request.word_size = 8;
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1058
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1059	if ((ret = ec_slave_schedule_sii_writing(&request)))
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1060	return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1061
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1062	slave->sii.alias = alias; // FIXME: do this in state machine
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1063
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1064	return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1065	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1066
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1067	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1068
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1069	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1070	Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1071	\return number of bytes to read
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1072	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1073
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1074	ssize_t ec_show_slave_attribute(struct kobject kobj, /< slave's kobject /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1075	struct attribute attr, /< attribute /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	1076	char buffer /< memory to store data /
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1077	)
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1078	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1079	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	1080
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	1081	if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	1082	return ec_slave_info(slave, buffer);
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 928 diff changeset	1083	} else if (attr == &attr_sii) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1084	if (slave->sii_data) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1085	if (slave->sii_size > PAGE_SIZE) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1086	EC_ERR("SII contents of slave %u exceed 1 page (%u/%u).\n",
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1087	slave->ring_position, slave->sii_size,
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1088	(int) PAGE_SIZE);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1089	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1090	else {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1091	memcpy(buffer, slave->sii_data, slave->sii_size);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1092	return slave->sii_size;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1093	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 264 diff changeset	1094	}
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 928 diff changeset	1095	} else if (attr == &attr_alias) {
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1096	return sprintf(buffer, "%u\n", slave->sii.alias);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1097	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1098
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1099	return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1100	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	1101
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1102	/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1103
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1104	/**
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1105	Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1106	\return number of bytes processed, or negative error code
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1107	*/
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1108
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1109	ssize_t ec_store_slave_attribute(struct kobject kobj, /< slave's kobject /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1110	struct attribute attr, /< attribute /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1111	const char buffer, /< memory with data /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1112	size_t size /*< size of data to store /
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1113	)
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1114	{
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1115	ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1116
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 928 diff changeset	1117	if (attr == &attr_sii) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	1118	return ec_slave_write_sii(slave, buffer, size);
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 928 diff changeset	1119	} else if (attr == &attr_alias) {
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1120	return ec_slave_write_alias(slave, buffer, size);
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1121	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1122
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	1123	return -EIO;
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1124	}
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	1125
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 269 diff changeset	1126	/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 269 diff changeset	1127
912 6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1128	/** Get the sync manager for either Rx- or Tx-Pdos.
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1129	*
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1130	* \todo This seems not to be correct in every case...
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	1131	* \return pointer to sync manager, or NULL.
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1132	*/
626 a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t. Florian Pose <fp@igh-essen.com> parents: 625 diff changeset	1133	ec_sync_t *ec_slave_get_pdo_sync(
912 6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1134	ec_slave_t slave, /< EtherCAT slave. /
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1135	ec_direction_t dir /*< Input or output. /
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1136	)
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1137	{
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1138	unsigned int sync_index;
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1139
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1140	if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1141	EC_ERR("Invalid direction!\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1142	return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1143	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	1144
912 6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1145	if (slave->sii.sync_count != 1) {
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1146	sync_index = (unsigned int) dir;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1147	if (slave->sii.mailbox_protocols) sync_index += 2;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1148
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1149	if (sync_index >= slave->sii.sync_count)
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1150	return NULL;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1151	} else { // sync_count == 1
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1152	// A single sync manager may be used for inputs OR outputs!
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1153	if (ec_sync_direction(&slave->sii.syncs[0]) != dir)
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1154	return NULL;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1155	sync_index = 0;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1156	}
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1157
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1158	return &slave->sii.syncs[sync_index];
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1159	}
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1160
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1161	/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1162
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	1163	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1164	Counts the total number of Sdos and entries in the dictionary.
423 862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1165	*/
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1166
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1167	void ec_slave_sdo_dict_info(const ec_slave_t slave, /< EtherCAT slave /
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1168	unsigned int sdo_count, /< number of Sdos /
423 862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1169	unsigned int entry_count /*< total number of
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1170	entries */
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1171	)
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1172	{
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1173	unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1174	ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1175	ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1176
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1177	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1178	sdos++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1179	list_for_each_entry(entry, &sdo->entries, list) {
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1180	entries++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1181	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1182	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1183
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1184	*sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1185	*entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1186	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	1187
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1188	/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1189
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1190	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1191	* Get an Sdo from the dictionary.
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1192	* \returns The desired Sdo, or NULL.
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1193	*/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1194
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1195	ec_sdo_t *ec_slave_get_sdo(
964 957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1196	ec_slave_t slave, /< EtherCAT slave /
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	1197	uint16_t index /*< Sdo index /
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1198	)
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1199	{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1200	ec_sdo_t *sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1201
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1202	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
967 93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1203	if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1204	continue;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1205	return sdo;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1206	}
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1207
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1208	return NULL;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1209	}
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1210
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1211	/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1212
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1213	/**
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1214	* Get an Sdo from the dictionary.
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1215	*
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1216	* const version.
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1217	*
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1218	* \returns The desired Sdo, or NULL.
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1219	*/
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1220
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1221	const ec_sdo_t *ec_slave_get_sdo_const(
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1222	const ec_slave_t slave, /< EtherCAT slave /
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1223	uint16_t index /*< Sdo index /
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1224	)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1225	{
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1226	const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1227
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1228	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1229	if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1230	continue;
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1231	return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1232	}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1233
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1234	return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1235	}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1236
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	1237	/*****************************************************************************/
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1238
964 957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1239	/** Get an Sdo from the dictionary, given its position in the list.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1240	* \returns The desired Sdo, or NULL.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1241	*/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1242
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1243	const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1244	const ec_slave_t slave, /< EtherCAT slave. /
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1245	uint16_t sdo_position /*< Sdo list position. /
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1246	)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1247	{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1248	const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1249
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1250	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1251	if (sdo_position--)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1252	continue;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1253	return sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1254	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1255
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1256	return NULL;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1257	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1258
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1259	/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1260
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1261	/** Get the number of Sdos in the dictionary.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1262	* \returns Sdo count.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1263	*/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1264
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1265	uint16_t ec_slave_sdo_count(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1266	const ec_slave_t slave /< EtherCAT slave. /
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1267	)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1268	{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1269	const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1270	uint16_t count = 0;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1271
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1272	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1273	count++;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1274	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1275
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1276	return count;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1277	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1278
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1279	/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1280
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1281	/** Finds a mapped Pdo.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1282	* \returns The desired Pdo object, or NULL.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1283	*/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1284	const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1285	const ec_slave_t slave, /< Slave. /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1286	uint16_t index /*< Pdo index to find. /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1287	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1288	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1289	unsigned int i;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1290	const ec_sync_t *sync;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1291	const ec_pdo_t *pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1292
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1293	for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1294	sync = &slave->sii.syncs[i];
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1295
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	1296	if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1297	continue;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1298
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1299	return pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1300	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1301
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1302	return NULL;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1303	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1304
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1305	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 06 Jun 2008 13:03:56 +0000
changeset 967	93807963b906
parent 964	957f21465052
child 977	167ae3e76cc7
permissions	-rw-r--r--