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/****************************************************************
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*
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* e c _ s l a v e . c
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*
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* Methoden für einen EtherCAT-Slave.
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*
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* $Date$
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* $Author$
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*
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***************************************************************/
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#include <linux/kernel.h>
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#include "ec_globals.h"
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#include "ec_slave.h"
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#include "ec_dbg.h"
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/***************************************************************/
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/**
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EtherCAT-Slave-Konstruktor.
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Initialisiert einen EtherCAT-Slave.
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@param slave Zeiger auf den zu initialisierenden Slave
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*/
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void EtherCAT_slave_init(EtherCAT_slave_t *slave)
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{
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slave->type = 0;
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slave->revision = 0;
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slave->build = 0;
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slave->ring_position = 0;
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slave->station_address = 0;
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slave->vendor_id = 0;
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slave->product_code = 0;
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slave->revision_number = 0;
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slave->desc = 0;
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slave->logical_address0 = 0;
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slave->current_state = ECAT_STATE_UNKNOWN;
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slave->requested_state = ECAT_STATE_UNKNOWN;
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}
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/***************************************************************/
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/**
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EtherCAT-Slave-Destruktor.
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Im Moment ohne Funktionalität.
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@param slave Zeiger auf den zu zerstörenden Slave
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*/
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void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
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{
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// Nothing yet...
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}
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/***************************************************************/
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/**
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Liest einen bestimmten Kanal des Slaves als Integer-Wert.
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Prüft zuerst, ob der entsprechende Slave eine
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bekannte Beschreibung besitzt, ob dort eine
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read()-Funktion hinterlegt ist und ob die angegebene
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Kanalnummer gültig ist. Wenn ja, wird der dekodierte
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Wert zurückgegeben, sonst ist der Wert 0.
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@param slave EtherCAT-Slave
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@param channel Kanalnummer
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@return Gelesener Wert bzw. 0
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*/
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int EtherCAT_read_value(EtherCAT_slave_t *slave,
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unsigned int channel)
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{
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if (!slave->desc)
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{
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EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
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"Slave %04X (at %0X) has no description.\n",
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slave->station_address, (unsigned int) slave);
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return 0;
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}
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if (!slave->desc->read)
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{
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EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
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"Slave type (%s %s) has no read method.\n",
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slave->desc->vendor_name, slave->desc->product_name);
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return 0;
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}
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if (channel >= slave->desc->channels)
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{
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EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
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"Slave %4X (%s %s) has no channel %i.\n",
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slave->station_address, slave->desc->vendor_name,
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slave->desc->product_name, channel);
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return 0;
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}
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return slave->desc->read(slave->process_data, channel);
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}
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/***************************************************************/
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/**
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Schreibt einen bestimmten Kanal des Slaves als Integer-Wert .
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Prüft zuerst, ob der entsprechende Slave eine
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bekannte Beschreibung besitzt, ob dort eine
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write()-Funktion hinterlegt ist und ob die angegebene
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Kanalnummer gültig ist. Wenn ja, wird der Wert entsprechend
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kodiert und geschrieben.
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@param slave EtherCAT-Slave
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@param channel Kanalnummer
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@param value Zu schreibender Wert
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*/
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void EtherCAT_write_value(EtherCAT_slave_t *slave,
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unsigned int channel,
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int value)
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{
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if (!slave->desc)
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{
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EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
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"Slave %04X (at %0X) has no description.\n",
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slave->station_address, (unsigned int) slave);
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return;
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}
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if (!slave->desc->write)
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{
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EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
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"Slave type (%s %s) has no write method.\n",
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slave->desc->vendor_name, slave->desc->product_name);
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return;
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}
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if (channel >= slave->desc->channels)
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{
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EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
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"Slave %4X (%s %s) has no channel %i.\n",
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slave->station_address, slave->desc->vendor_name,
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slave->desc->product_name, channel);
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return;
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}
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slave->desc->write(slave->process_data, channel, value);
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}
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/***************************************************************/
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