author | Florian Pose <fp@igh-essen.com> |
Wed, 02 Aug 2006 23:16:10 +0000 | |
changeset 324 | 9aa51cbdbfae |
parent 320 | 71d559ec66d7 |
child 325 | 7833cf70c4f2 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include <linux/delay.h> |
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#include "globals.h" |
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#include "slave.h" |
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#include "datagram.h" |
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#include "master.h" |
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/*****************************************************************************/ |
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extern const ec_code_msg_t al_status_messages[]; |
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/*****************************************************************************/ |
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int ec_slave_fetch_categories(ec_slave_t *); |
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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *); |
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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *, |
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const char *, size_t); |
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/*****************************************************************************/ |
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/** \cond */ |
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EC_SYSFS_READ_ATTR(ring_position); |
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EC_SYSFS_READ_ATTR(advanced_position); |
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EC_SYSFS_READ_ATTR(vendor_name); // deprecated |
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EC_SYSFS_READ_ATTR(product_name); // deprecated |
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EC_SYSFS_READ_ATTR(product_desc); // deprecated |
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EC_SYSFS_READ_ATTR(name); |
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EC_SYSFS_READ_ATTR(type); // deprecated |
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EC_SYSFS_READ_WRITE_ATTR(state); |
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EC_SYSFS_READ_WRITE_ATTR(eeprom); |
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static struct attribute *def_attrs[] = { |
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&attr_ring_position, |
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&attr_advanced_position, |
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&attr_vendor_name, |
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&attr_product_name, |
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&attr_product_desc, |
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&attr_name, |
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&attr_type, |
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&attr_state, |
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&attr_eeprom, |
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NULL, |
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}; |
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static struct sysfs_ops sysfs_ops = { |
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.show = ec_show_slave_attribute, |
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.store = ec_store_slave_attribute |
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}; |
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static struct kobj_type ktype_ec_slave = { |
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.release = ec_slave_clear, |
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.sysfs_ops = &sysfs_ops, |
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.default_attrs = def_attrs |
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}; |
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/** \endcond */ |
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/*****************************************************************************/ |
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/** |
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Slave constructor. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */ |
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ec_master_t *master, /**< EtherCAT master */ |
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uint16_t ring_position, /**< ring position */ |
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uint16_t station_address /**< station address to configure */ |
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) |
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{ |
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unsigned int i; |
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slave->ring_position = ring_position; |
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slave->station_address = station_address; |
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// init kobject and add it to the hierarchy |
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memset(&slave->kobj, 0x00, sizeof(struct kobject)); |
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kobject_init(&slave->kobj); |
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slave->kobj.ktype = &ktype_ec_slave; |
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slave->kobj.parent = &master->kobj; |
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if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) { |
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EC_ERR("Failed to set kobject name.\n"); |
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kobject_put(&slave->kobj); |
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return -1; |
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} |
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parents:
175
diff
changeset
|
128 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
129 |
slave->master = master; |
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
185
diff
changeset
|
130 |
slave->coupler_index = 0; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
185
diff
changeset
|
131 |
slave->coupler_subindex = 0xFFFF; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
132 |
slave->base_type = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
133 |
slave->base_revision = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
134 |
slave->base_build = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
135 |
slave->base_fmmu_count = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
136 |
slave->base_sync_count = 0; |
114 | 137 |
slave->sii_alias = 0; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
138 |
slave->sii_vendor_id = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
139 |
slave->sii_product_code = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
140 |
slave->sii_revision_number = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
141 |
slave->sii_serial_number = 0; |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
142 |
slave->sii_rx_mailbox_offset = 0; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
143 |
slave->sii_rx_mailbox_size = 0; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
144 |
slave->sii_tx_mailbox_offset = 0; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
145 |
slave->sii_tx_mailbox_size = 0; |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
132
diff
changeset
|
146 |
slave->sii_mailbox_protocols = 0; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
147 |
slave->type = NULL; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
148 |
slave->registered = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
149 |
slave->fmmu_count = 0; |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
150 |
slave->eeprom_data = NULL; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
151 |
slave->eeprom_size = 0; |
264
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
152 |
slave->eeprom_group = NULL; |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
153 |
slave->eeprom_image = NULL; |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
154 |
slave->eeprom_order = NULL; |
121
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
155 |
slave->eeprom_name = NULL; |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
156 |
slave->requested_state = EC_SLAVE_STATE_UNKNOWN; |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
157 |
slave->current_state = EC_SLAVE_STATE_UNKNOWN; |
291
0b1f877cf3f1
Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents:
290
diff
changeset
|
158 |
slave->error_flag = 0; |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
159 |
slave->online = 1; |
269 | 160 |
slave->new_eeprom_data = NULL; |
161 |
slave->new_eeprom_size = 0; |
|
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
162 |
|
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
163 |
INIT_LIST_HEAD(&slave->eeprom_strings); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
164 |
INIT_LIST_HEAD(&slave->eeprom_syncs); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
165 |
INIT_LIST_HEAD(&slave->eeprom_pdos); |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
166 |
INIT_LIST_HEAD(&slave->sdo_dictionary); |
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
167 |
INIT_LIST_HEAD(&slave->varsize_fields); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
168 |
|
183
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
169 |
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
|
170 |
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
|
171 |
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
|
172 |
slave->dl_signal[i] = 0; |
190
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
173 |
slave->sii_physical_layer[i] = 0xFF; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
174 |
} |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
175 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
176 |
return 0; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
177 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
178 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
179 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
180 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
181 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
182 |
Slave destructor. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
183 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
184 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
185 |
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
|
186 |
{ |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
187 |
ec_slave_t *slave; |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
188 |
ec_eeprom_string_t *string, *next_str; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
189 |
ec_eeprom_sync_t *sync, *next_sync; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
190 |
ec_eeprom_pdo_t *pdo, *next_pdo; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
191 |
ec_eeprom_pdo_entry_t *entry, *next_ent; |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
192 |
ec_sdo_t *sdo, *next_sdo; |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
193 |
ec_sdo_entry_t *en, *next_en; |
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
194 |
ec_varsize_t *var, *next_var; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
195 |
|
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
196 |
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
|
197 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
198 |
// free all string objects |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
199 |
list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) { |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
200 |
list_del(&string->list); |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
201 |
kfree(string); |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
202 |
} |
121
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
203 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
204 |
// free all sync managers |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
205 |
list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) { |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
206 |
list_del(&sync->list); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
207 |
kfree(sync); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
208 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
209 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
210 |
// free all PDOs |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
211 |
list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) { |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
212 |
list_del(&pdo->list); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
213 |
if (pdo->name) kfree(pdo->name); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
214 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
215 |
// free all PDO entries |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
216 |
list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) { |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
217 |
list_del(&entry->list); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
218 |
if (entry->name) kfree(entry->name); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
219 |
kfree(entry); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
220 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
221 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
222 |
kfree(pdo); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
223 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
224 |
|
264
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
225 |
if (slave->eeprom_group) kfree(slave->eeprom_group); |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
226 |
if (slave->eeprom_image) kfree(slave->eeprom_image); |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
227 |
if (slave->eeprom_order) kfree(slave->eeprom_order); |
121
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
228 |
if (slave->eeprom_name) kfree(slave->eeprom_name); |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
229 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
230 |
// free all SDOs |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
231 |
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) { |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
232 |
list_del(&sdo->list); |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
233 |
if (sdo->name) kfree(sdo->name); |
161
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
160
diff
changeset
|
234 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
235 |
// free all SDO entries |
139 | 236 |
list_for_each_entry_safe(en, next_en, &sdo->entries, list) { |
237 |
list_del(&en->list); |
|
238 |
kfree(en); |
|
239 |
} |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
240 |
kfree(sdo); |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
241 |
} |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
242 |
|
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
243 |
// free information about variable sized data fields |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
244 |
list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
245 |
list_del(&var->list); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
246 |
kfree(var); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
247 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
248 |
|
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
249 |
if (slave->eeprom_data) kfree(slave->eeprom_data); |
269 | 250 |
if (slave->new_eeprom_data) kfree(slave->new_eeprom_data); |
121
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
251 |
} |
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
252 |
|
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
253 |
/*****************************************************************************/ |
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
254 |
|
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents:
119
diff
changeset
|
255 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
256 |
Reads all necessary information from a slave. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
257 |
\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
|
258 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
259 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
260 |
int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
261 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
262 |
ec_datagram_t *datagram; |
142 | 263 |
unsigned int i; |
264 |
uint16_t dl_status; |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
265 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
266 |
datagram = &slave->master->simple_datagram; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
267 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
268 |
// read base data |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
269 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x0000, 6)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
270 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
271 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
142 | 272 |
EC_ERR("Reading base data from slave %i failed!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
273 |
slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
274 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
275 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
276 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
277 |
slave->base_type = EC_READ_U8 (datagram->data); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
278 |
slave->base_revision = EC_READ_U8 (datagram->data + 1); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
279 |
slave->base_build = EC_READ_U16(datagram->data + 2); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
280 |
slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
281 |
slave->base_sync_count = EC_READ_U8 (datagram->data + 5); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
282 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
283 |
if (slave->base_fmmu_count > EC_MAX_FMMUS) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
284 |
slave->base_fmmu_count = EC_MAX_FMMUS; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
285 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
286 |
// read data link status |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
287 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
288 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
289 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
142 | 290 |
EC_ERR("Reading DL status from slave %i failed!\n", |
291 |
slave->ring_position); |
|
292 |
return -1; |
|
293 |
} |
|
294 |
||
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
295 |
dl_status = EC_READ_U16(datagram->data); |
183
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
296 |
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
|
297 |
slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0; |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
298 |
slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0; |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
299 |
slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0; |
142 | 300 |
} |
301 |
||
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
302 |
// read EEPROM data |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
303 |
if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
304 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
305 |
if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
306 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
307 |
if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
308 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
309 |
if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
310 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
311 |
if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
312 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
313 |
if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
314 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
315 |
if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
316 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
317 |
if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
318 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
319 |
if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
320 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
321 |
if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols)) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
322 |
return -1; |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
132
diff
changeset
|
323 |
|
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
324 |
if (unlikely(ec_slave_fetch_categories(slave))) { |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
325 |
EC_ERR("Failed to fetch category data!\n"); |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
326 |
return -1; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
327 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
328 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
329 |
return 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
330 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
331 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
332 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
333 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
334 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
335 |
Reads 16 bit from the slave information interface (SII). |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
336 |
\return 0 in case of success, else < 0 |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
337 |
*/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
338 |
|
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
339 |
int ec_slave_sii_read16(ec_slave_t *slave, |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
340 |
/**< EtherCAT slave */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
341 |
uint16_t offset, |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
342 |
/**< address of the SII register to read */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
343 |
uint16_t *target |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
344 |
/**< target memory */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
345 |
) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
346 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
347 |
ec_datagram_t *datagram; |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
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diff
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|
348 |
cycles_t start, end, timeout; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
349 |
|
293
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Renamed command structure to datagram.
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diff
changeset
|
350 |
datagram = &slave->master->simple_datagram; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
351 |
|
195
674071846ee3
Translated all comments and documentation to english language.
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190
diff
changeset
|
352 |
// initiate read operation |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
353 |
if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 6)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
354 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
355 |
EC_WRITE_U8 (datagram->data, 0x00); // read-only access |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
356 |
EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
357 |
EC_WRITE_U32(datagram->data + 2, offset); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
358 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
359 |
EC_ERR("SII-read failed on slave %i!\n", slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
360 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
361 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
362 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
363 |
start = get_cycles(); |
119
b2de89096010
Verschiedene Timeouts verl?ngert.
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parents:
118
diff
changeset
|
364 |
timeout = (cycles_t) 100 * cpu_khz; // 100ms |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
365 |
|
113 | 366 |
while (1) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
367 |
{ |
113 | 368 |
udelay(10); |
369 |
||
293
14aeb79aa992
Renamed command structure to datagram.
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parents:
292
diff
changeset
|
370 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 10)) |
14aeb79aa992
Renamed command structure to datagram.
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parents:
292
diff
changeset
|
371 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
372 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
373 |
EC_ERR("Getting SII-read status failed on slave %i!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
374 |
slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
375 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
376 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
377 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
378 |
end = get_cycles(); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
379 |
|
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
190
diff
changeset
|
380 |
// check for "busy bit" |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
381 |
if (likely((EC_READ_U8(datagram->data + 1) & 0x81) == 0)) { |
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
382 |
*target = EC_READ_U16(datagram->data + 6); |
136
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Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
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diff
changeset
|
383 |
return 0; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
384 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
385 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
386 |
if (unlikely((end - start) >= timeout)) { |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
387 |
EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
388 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
389 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
390 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
391 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
392 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
393 |
/*****************************************************************************/ |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
394 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
395 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
396 |
Reads 32 bit from the slave information interface (SII). |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
397 |
\return 0 in case of success, else < 0 |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
398 |
*/ |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
399 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
400 |
int ec_slave_sii_read32(ec_slave_t *slave, |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
401 |
/**< EtherCAT slave */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
402 |
uint16_t offset, |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
403 |
/**< address of the SII register to read */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
404 |
uint32_t *target |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
405 |
/**< target memory */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
406 |
) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
407 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
408 |
ec_datagram_t *datagram; |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
409 |
cycles_t start, end, timeout; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
410 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
411 |
datagram = &slave->master->simple_datagram; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
412 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
413 |
// initiate read operation |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
414 |
if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 6)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
415 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
416 |
EC_WRITE_U8 (datagram->data, 0x00); // read-only access |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
417 |
EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
418 |
EC_WRITE_U32(datagram->data + 2, offset); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
419 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
420 |
EC_ERR("SII-read failed on slave %i!\n", slave->ring_position); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
421 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
422 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
423 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
424 |
start = get_cycles(); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
425 |
timeout = (cycles_t) 100 * cpu_khz; // 100ms |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
426 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
427 |
while (1) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
428 |
{ |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
429 |
udelay(10); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
430 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
431 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 10)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
432 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
433 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
434 |
EC_ERR("Getting SII-read status failed on slave %i!\n", |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
435 |
slave->ring_position); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
436 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
437 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
438 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
439 |
end = get_cycles(); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
440 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
441 |
// check "busy bit" |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
442 |
if (likely((EC_READ_U8(datagram->data + 1) & 0x81) == 0)) { |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
443 |
*target = EC_READ_U32(datagram->data + 6); |
113 | 444 |
return 0; |
445 |
} |
|
446 |
||
447 |
if (unlikely((end - start) >= timeout)) { |
|
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
448 |
EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position); |
113 | 449 |
return -1; |
450 |
} |
|
451 |
} |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
452 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
453 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
454 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
455 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
456 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
457 |
Writes 16 bit of data to the slave information interface (SII). |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
458 |
\return 0 in case of success, else < 0 |
114 | 459 |
*/ |
460 |
||
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
461 |
int ec_slave_sii_write16(ec_slave_t *slave, |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
462 |
/**< EtherCAT slave */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
463 |
uint16_t offset, |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
464 |
/**< address of the SII register to write */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
465 |
uint16_t value |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
466 |
/**< new value */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
467 |
) |
114 | 468 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
469 |
ec_datagram_t *datagram; |
114 | 470 |
cycles_t start, end, timeout; |
471 |
||
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
472 |
datagram = &slave->master->simple_datagram; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
473 |
|
114 | 474 |
EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n", |
475 |
slave->ring_position, offset, value); |
|
476 |
||
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
477 |
// initiate write operation |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
478 |
if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 8)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
479 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
480 |
EC_WRITE_U8 (datagram->data, 0x01); // enable write access |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
481 |
EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
482 |
EC_WRITE_U32(datagram->data + 2, offset); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
483 |
EC_WRITE_U16(datagram->data + 6, value); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
484 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
114 | 485 |
EC_ERR("SII-write failed on slave %i!\n", slave->ring_position); |
486 |
return -1; |
|
487 |
} |
|
488 |
||
489 |
start = get_cycles(); |
|
119
b2de89096010
Verschiedene Timeouts verl?ngert.
Florian Pose <fp@igh-essen.com>
parents:
118
diff
changeset
|
490 |
timeout = (cycles_t) 100 * cpu_khz; // 100ms |
114 | 491 |
|
492 |
while (1) |
|
493 |
{ |
|
494 |
udelay(10); |
|
495 |
||
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
496 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 2)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
497 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
498 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
114 | 499 |
EC_ERR("Getting SII-write status failed on slave %i!\n", |
500 |
slave->ring_position); |
|
501 |
return -1; |
|
502 |
} |
|
503 |
||
504 |
end = get_cycles(); |
|
505 |
||
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
506 |
// check "busy bit" |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
507 |
if (likely((EC_READ_U8(datagram->data + 1) & 0x82) == 0)) { |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
508 |
if (EC_READ_U8(datagram->data + 1) & 0x40) { |
114 | 509 |
EC_ERR("SII-write failed!\n"); |
510 |
return -1; |
|
511 |
} |
|
512 |
else { |
|
513 |
EC_INFO("SII-write succeeded!\n"); |
|
514 |
return 0; |
|
515 |
} |
|
516 |
} |
|
517 |
||
518 |
if (unlikely((end - start) >= timeout)) { |
|
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
519 |
EC_ERR("SII-write: Slave %i timed out!\n", slave->ring_position); |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
520 |
return -1; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
521 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
522 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
523 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
524 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
525 |
/*****************************************************************************/ |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
526 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
527 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
528 |
Fetches data from slave's EEPROM. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
529 |
\return 0 in case of success, else < 0 |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
530 |
\todo memory allocation |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
531 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
532 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
533 |
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT slave */) |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
534 |
{ |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
535 |
uint16_t word_offset, cat_type, word_count; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
536 |
uint32_t value; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
537 |
uint8_t *cat_data; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
538 |
unsigned int i; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
539 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
540 |
word_offset = 0x0040; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
541 |
|
296
967aaacf9b20
Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
542 |
if (!(cat_data = (uint8_t *) kmalloc(0x10000, GFP_ATOMIC))) { |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
543 |
EC_ERR("Failed to allocate 64k bytes for category data.\n"); |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
544 |
return -1; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
545 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
546 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
547 |
while (1) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
548 |
// read category type |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
549 |
if (ec_slave_sii_read32(slave, word_offset, &value)) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
550 |
EC_ERR("Unable to read category header.\n"); |
123 | 551 |
goto out_free; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
552 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
553 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
554 |
// last category? |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
555 |
if ((value & 0xFFFF) == 0xFFFF) break; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
556 |
|
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
557 |
cat_type = value & 0x7FFF; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
558 |
word_count = (value >> 16) & 0xFFFF; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
559 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
560 |
// fetch category data |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
561 |
for (i = 0; i < word_count; i++) { |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
562 |
if (ec_slave_sii_read32(slave, word_offset + 2 + i, &value)) { |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
563 |
EC_ERR("Unable to read category data word %i.\n", i); |
123 | 564 |
goto out_free; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
565 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
566 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
567 |
cat_data[i * 2] = (value >> 0) & 0xFF; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
568 |
cat_data[i * 2 + 1] = (value >> 8) & 0xFF; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
569 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
570 |
// read second word "on the fly" |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
571 |
if (i + 1 < word_count) { |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
572 |
i++; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
573 |
cat_data[i * 2] = (value >> 16) & 0xFF; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
574 |
cat_data[i * 2 + 1] = (value >> 24) & 0xFF; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
575 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
576 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
577 |
|
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
578 |
switch (cat_type) |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
579 |
{ |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
580 |
case 0x000A: |
123 | 581 |
if (ec_slave_fetch_strings(slave, cat_data)) |
582 |
goto out_free; |
|
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
583 |
break; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
584 |
case 0x001E: |
123 | 585 |
if (ec_slave_fetch_general(slave, cat_data)) |
586 |
goto out_free; |
|
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
587 |
break; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
588 |
case 0x0028: |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
589 |
break; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
590 |
case 0x0029: |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
591 |
if (ec_slave_fetch_sync(slave, cat_data, word_count)) |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
592 |
goto out_free; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
593 |
break; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
594 |
case 0x0032: |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
595 |
if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_TX_PDO)) |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
596 |
goto out_free; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
597 |
break; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
598 |
case 0x0033: |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
599 |
if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_RX_PDO)) |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
600 |
goto out_free; |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
601 |
break; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
602 |
default: |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
603 |
EC_WARN("Unknown category type 0x%04X in slave %i.\n", |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
604 |
cat_type, slave->ring_position); |
118
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
605 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
606 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
607 |
word_offset += 2 + word_count; |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
608 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
609 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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|
610 |
kfree(cat_data); |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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diff
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|
611 |
return 0; |
123 | 612 |
|
613 |
out_free: |
|
614 |
kfree(cat_data); |
|
615 |
return -1; |
|
118
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|
616 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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diff
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|
617 |
|
dc71ce4cc641
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diff
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|
618 |
/*****************************************************************************/ |
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Kategorie-Daten aus EEPROM lesen.
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diff
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|
619 |
|
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diff
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|
620 |
/** |
195
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|
621 |
Fetches data from a STRING category. |
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190
diff
changeset
|
622 |
\return 0 in case of success, else < 0 |
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|
623 |
*/ |
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diff
changeset
|
624 |
|
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diff
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|
625 |
int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */ |
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diff
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|
626 |
const uint8_t *data /**< category data */ |
118
dc71ce4cc641
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diff
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|
627 |
) |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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diff
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|
628 |
{ |
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diff
changeset
|
629 |
unsigned int string_count, i; |
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diff
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|
630 |
size_t size; |
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|
631 |
off_t offset; |
126
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|
632 |
ec_eeprom_string_t *string; |
118
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|
633 |
|
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|
634 |
string_count = data[0]; |
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diff
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|
635 |
offset = 1; |
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diff
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|
636 |
for (i = 0; i < string_count; i++) { |
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diff
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|
637 |
size = data[offset]; |
195
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diff
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|
638 |
// allocate memory for string structure and data at a single blow |
126
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|
639 |
if (!(string = (ec_eeprom_string_t *) |
296
967aaacf9b20
Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
640 |
kmalloc(sizeof(ec_eeprom_string_t) + size + 1, GFP_ATOMIC))) { |
118
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|
641 |
EC_ERR("Failed to allocate string memory.\n"); |
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diff
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|
642 |
return -1; |
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|
643 |
} |
121
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
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diff
changeset
|
644 |
string->size = size; |
161
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
160
diff
changeset
|
645 |
// string memory appended to string structure |
126
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|
646 |
string->data = (char *) string + sizeof(ec_eeprom_string_t); |
118
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|
647 |
memcpy(string->data, data + offset + 1, size); |
dc71ce4cc641
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parents:
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diff
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|
648 |
string->data[size] = 0x00; |
121
1cd6f7a47b72
Bugfix: Absturz behoben, EEPROM-Infos.
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parents:
119
diff
changeset
|
649 |
list_add_tail(&string->list, &slave->eeprom_strings); |
118
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diff
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|
650 |
offset += 1 + size; |
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diff
changeset
|
651 |
} |
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diff
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|
652 |
|
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diff
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|
653 |
return 0; |
dc71ce4cc641
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parents:
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diff
changeset
|
654 |
} |
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diff
changeset
|
655 |
|
dc71ce4cc641
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diff
changeset
|
656 |
/*****************************************************************************/ |
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parents:
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diff
changeset
|
657 |
|
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parents:
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diff
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|
658 |
/** |
195
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diff
changeset
|
659 |
Fetches data from a GENERAL category. |
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Translated all comments and documentation to english language.
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diff
changeset
|
660 |
\return 0 in case of success, else < 0 |
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diff
changeset
|
661 |
*/ |
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diff
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|
662 |
|
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diff
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|
663 |
int ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */ |
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diff
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|
664 |
const uint8_t *data /**< category data */ |
123 | 665 |
) |
666 |
{ |
|
190
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
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diff
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|
667 |
unsigned int i; |
4e32bcc6b361
Now fetching port physical layer from EEPROM
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diff
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|
668 |
|
123 | 669 |
if (ec_slave_locate_string(slave, data[0], &slave->eeprom_group)) |
670 |
return -1; |
|
264
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
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diff
changeset
|
671 |
if (ec_slave_locate_string(slave, data[1], &slave->eeprom_image)) |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
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|
672 |
return -1; |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
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parents:
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diff
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|
673 |
if (ec_slave_locate_string(slave, data[2], &slave->eeprom_order)) |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
674 |
return -1; |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
675 |
if (ec_slave_locate_string(slave, data[3], &slave->eeprom_name)) |
123 | 676 |
return -1; |
677 |
||
190
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
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diff
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|
678 |
for (i = 0; i < 4; i++) |
195
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diff
changeset
|
679 |
slave->sii_physical_layer[i] = |
674071846ee3
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parents:
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diff
changeset
|
680 |
(data[4] & (0x03 << (i * 2))) >> (i * 2); |
190
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
681 |
|
123 | 682 |
return 0; |
118
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|
683 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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parents:
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diff
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|
684 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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parents:
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diff
changeset
|
685 |
/*****************************************************************************/ |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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parents:
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diff
changeset
|
686 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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parents:
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diff
changeset
|
687 |
/** |
195
674071846ee3
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parents:
190
diff
changeset
|
688 |
Fetches data from a SYNC MANAGER category. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
689 |
\return 0 in case of success, else < 0 |
674071846ee3
Translated all comments and documentation to english language.
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parents:
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diff
changeset
|
690 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
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diff
changeset
|
691 |
|
674071846ee3
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Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
692 |
int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
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diff
changeset
|
693 |
const uint8_t *data, /**< category data */ |
674071846ee3
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parents:
190
diff
changeset
|
694 |
size_t word_count /**< number of words */ |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
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parents:
124
diff
changeset
|
695 |
) |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
696 |
{ |
bbc963b9fead
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parents:
124
diff
changeset
|
697 |
unsigned int sync_count, i; |
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diff
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|
698 |
ec_eeprom_sync_t *sync; |
bbc963b9fead
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diff
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|
699 |
|
195
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parents:
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diff
changeset
|
700 |
sync_count = word_count / 4; // sync manager struct is 4 words long |
126
bbc963b9fead
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parents:
124
diff
changeset
|
701 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
702 |
for (i = 0; i < sync_count; i++, data += 8) { |
127
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
parents:
126
diff
changeset
|
703 |
if (!(sync = (ec_eeprom_sync_t *) |
296
967aaacf9b20
Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
704 |
kmalloc(sizeof(ec_eeprom_sync_t), GFP_ATOMIC))) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
705 |
EC_ERR("Failed to allocate Sync-Manager memory.\n"); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
706 |
return -1; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
707 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
708 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
709 |
sync->index = i; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
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parents:
124
diff
changeset
|
710 |
sync->physical_start_address = *((uint16_t *) (data + 0)); |
bbc963b9fead
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parents:
124
diff
changeset
|
711 |
sync->length = *((uint16_t *) (data + 2)); |
bbc963b9fead
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Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
712 |
sync->control_register = data[4]; |
bbc963b9fead
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parents:
124
diff
changeset
|
713 |
sync->enable = data[6]; |
bbc963b9fead
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parents:
124
diff
changeset
|
714 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
715 |
list_add_tail(&sync->list, &slave->eeprom_syncs); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
716 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
717 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
718 |
return 0; |
118
dc71ce4cc641
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parents:
114
diff
changeset
|
719 |
} |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
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parents:
114
diff
changeset
|
720 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
721 |
/*****************************************************************************/ |
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
722 |
|
dc71ce4cc641
Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents:
114
diff
changeset
|
723 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
724 |
Fetches data from a [RT]XPDO category. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
725 |
\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
|
726 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
727 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
728 |
int ec_slave_fetch_pdo(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
|
729 |
const uint8_t *data, /**< category data */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
730 |
size_t word_count, /**< number of words */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
731 |
ec_pdo_type_t pdo_type /**< PDO type */ |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
732 |
) |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
733 |
{ |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
734 |
ec_eeprom_pdo_t *pdo; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
735 |
ec_eeprom_pdo_entry_t *entry; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
736 |
unsigned int entry_count, i; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
737 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
738 |
while (word_count >= 4) { |
127
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
parents:
126
diff
changeset
|
739 |
if (!(pdo = (ec_eeprom_pdo_t *) |
296
967aaacf9b20
Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
740 |
kmalloc(sizeof(ec_eeprom_pdo_t), GFP_ATOMIC))) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
741 |
EC_ERR("Failed to allocate PDO memory.\n"); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
742 |
return -1; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
743 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
744 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
745 |
INIT_LIST_HEAD(&pdo->entries); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
746 |
pdo->type = pdo_type; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
747 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
748 |
pdo->index = *((uint16_t *) data); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
749 |
entry_count = data[2]; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
750 |
pdo->sync_manager = data[3]; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
751 |
pdo->name = NULL; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
752 |
ec_slave_locate_string(slave, data[5], &pdo->name); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
753 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
754 |
list_add_tail(&pdo->list, &slave->eeprom_pdos); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
755 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
756 |
word_count -= 4; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
757 |
data += 8; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
758 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
759 |
for (i = 0; i < entry_count; i++) { |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
760 |
if (!(entry = (ec_eeprom_pdo_entry_t *) |
296
967aaacf9b20
Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
761 |
kmalloc(sizeof(ec_eeprom_pdo_entry_t), GFP_ATOMIC))) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
762 |
EC_ERR("Failed to allocate PDO entry memory.\n"); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
763 |
return -1; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
764 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
765 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
766 |
entry->index = *((uint16_t *) data); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
767 |
entry->subindex = data[2]; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
768 |
entry->name = NULL; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
769 |
ec_slave_locate_string(slave, data[3], &entry->name); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
770 |
entry->bit_length = data[5]; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
771 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
772 |
list_add_tail(&entry->list, &pdo->entries); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
773 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
774 |
word_count -= 4; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
775 |
data += 8; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
776 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
777 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
778 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
779 |
return 0; |
114 | 780 |
} |
781 |
||
782 |
/*****************************************************************************/ |
|
783 |
||
784 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
785 |
Searches the string list for an index and allocates a new string. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
786 |
\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
|
787 |
\todo documentation |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
788 |
*/ |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
789 |
|
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
790 |
int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */ |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
791 |
unsigned int index, /**< string index */ |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
792 |
char **ptr /**< Address of the string pointer */ |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
793 |
) |
123 | 794 |
{ |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
795 |
ec_eeprom_string_t *string; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
796 |
char *err_string; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
797 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
798 |
// Erst alten Speicher freigeben |
123 | 799 |
if (*ptr) { |
800 |
kfree(*ptr); |
|
801 |
*ptr = NULL; |
|
802 |
} |
|
803 |
||
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
804 |
// Index 0 bedeutet "nicht belegt" |
123 | 805 |
if (!index) return 0; |
806 |
||
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
807 |
// EEPROM-String mit Index finden und kopieren |
123 | 808 |
list_for_each_entry(string, &slave->eeprom_strings, list) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
809 |
if (--index) continue; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
810 |
|
296
967aaacf9b20
Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
811 |
if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_ATOMIC))) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
812 |
EC_ERR("Unable to allocate string memory.\n"); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
813 |
return -1; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
814 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
815 |
memcpy(*ptr, string->data, string->size + 1); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
816 |
return 0; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
817 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
818 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
819 |
EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
820 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
821 |
err_string = "(string not found)"; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
822 |
|
296
967aaacf9b20
Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
823 |
if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) { |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
824 |
EC_ERR("Unable to allocate string memory.\n"); |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
825 |
return -1; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
826 |
} |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
827 |
|
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
828 |
memcpy(*ptr, err_string, strlen(err_string) + 1); |
123 | 829 |
return 0; |
830 |
} |
|
831 |
||
832 |
/*****************************************************************************/ |
|
833 |
||
834 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
835 |
Acknowledges an error after a state transition. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
836 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
837 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
838 |
void ec_slave_state_ack(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
|
839 |
uint8_t state /**< previous state */ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
840 |
) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
841 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
842 |
ec_datagram_t *datagram; |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
843 |
cycles_t start, end, timeout; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
844 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
845 |
datagram = &slave->master->simple_datagram; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
846 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
847 |
if (ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2)) return; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
848 |
EC_WRITE_U16(datagram->data, state | EC_ACK); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
849 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
163
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
850 |
EC_WARN("Acknowledge sending failed on slave %i!\n", |
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
851 |
slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
852 |
return; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
853 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
854 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
855 |
start = get_cycles(); |
302
ad630f38cca1
Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents:
298
diff
changeset
|
856 |
timeout = (cycles_t) 100 * cpu_khz; // 100ms |
ad630f38cca1
Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents:
298
diff
changeset
|
857 |
|
ad630f38cca1
Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents:
298
diff
changeset
|
858 |
while (1) { |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
859 |
udelay(100); // wait a little bit... |
113 | 860 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
861 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2)) |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
862 |
return; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
863 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
864 |
slave->current_state = EC_SLAVE_STATE_UNKNOWN; |
163
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
865 |
EC_WARN("Acknowledge checking failed on slave %i!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
866 |
slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
867 |
return; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
868 |
} |
113 | 869 |
|
163
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
870 |
end = get_cycles(); |
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
871 |
|
302
ad630f38cca1
Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents:
298
diff
changeset
|
872 |
if (EC_READ_U8(datagram->data) == state) { |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
873 |
slave->current_state = state; |
163
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
874 |
EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state, |
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
875 |
slave->ring_position); |
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
876 |
return; |
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
877 |
} |
a1eea08070e1
Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
878 |
|
302
ad630f38cca1
Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents:
298
diff
changeset
|
879 |
if (end - start >= timeout) { |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
880 |
slave->current_state = EC_SLAVE_STATE_UNKNOWN; |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
881 |
EC_WARN("Failed to acknowledge state 0x%02X on slave %i" |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
882 |
" - Timeout!\n", state, slave->ring_position); |
113 | 883 |
return; |
884 |
} |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
885 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
886 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
887 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
888 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
889 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
890 |
/** |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
891 |
Reads the AL status code of a slave and displays it. |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
892 |
If the AL status code is not supported, or if no error occurred (both |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
893 |
resulting in code = 0), nothing is displayed. |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
894 |
*/ |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
895 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
896 |
void ec_slave_read_al_status_code(ec_slave_t *slave /**< EtherCAT slave */) |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
897 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
898 |
ec_datagram_t *datagram; |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
899 |
uint16_t code; |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
900 |
const ec_code_msg_t *al_msg; |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
901 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
902 |
datagram = &slave->master->simple_datagram; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
903 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
904 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2)) return; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
905 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
906 |
EC_WARN("Failed to read AL status code on slave %i!\n", |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
907 |
slave->ring_position); |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
908 |
return; |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
909 |
} |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
910 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
911 |
if (!(code = EC_READ_U16(datagram->data))) return; |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
912 |
|
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
913 |
for (al_msg = al_status_messages; al_msg->code; al_msg++) { |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
914 |
if (al_msg->code == code) { |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
915 |
EC_ERR("AL status message 0x%04X: \"%s\".\n", |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
916 |
al_msg->code, al_msg->message); |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
917 |
return; |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
918 |
} |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
919 |
} |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
920 |
|
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
921 |
EC_ERR("Unknown AL status code 0x%04X.\n", code); |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
922 |
} |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
923 |
|
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
924 |
/*****************************************************************************/ |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
925 |
|
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
926 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
927 |
Does a state transition. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
928 |
\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
|
929 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
930 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
931 |
int ec_slave_state_change(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
|
932 |
uint8_t state /**< new state */ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
933 |
) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
934 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
935 |
ec_datagram_t *datagram; |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
936 |
cycles_t start, end, timeout; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
937 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
938 |
datagram = &slave->master->simple_datagram; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
939 |
|
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
940 |
slave->requested_state = state; |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
941 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
942 |
if (ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
943 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
944 |
EC_WRITE_U16(datagram->data, state); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
945 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
946 |
EC_ERR("Failed to set state 0x%02X on slave %i!\n", |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
947 |
state, slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
948 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
949 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
950 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
951 |
start = get_cycles(); |
119
b2de89096010
Verschiedene Timeouts verl?ngert.
Florian Pose <fp@igh-essen.com>
parents:
118
diff
changeset
|
952 |
timeout = (cycles_t) 10 * cpu_khz; // 10ms |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
953 |
|
113 | 954 |
while (1) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
955 |
{ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
956 |
udelay(100); // wait a little bit |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
957 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
958 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
959 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
960 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
961 |
slave->current_state = EC_SLAVE_STATE_UNKNOWN; |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
962 |
EC_ERR("Failed to check state 0x%02X on slave %i!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
963 |
state, slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
964 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
965 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
966 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
967 |
end = get_cycles(); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
968 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
969 |
if (unlikely(EC_READ_U8(datagram->data) & 0x10)) { |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
970 |
// state change error |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
971 |
EC_ERR("Failed to set state 0x%02X - Slave %i refused state change" |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
972 |
" (code 0x%02X)!\n", state, slave->ring_position, |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
973 |
EC_READ_U8(datagram->data)); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
974 |
slave->current_state = EC_READ_U8(datagram->data); |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
975 |
state = slave->current_state & 0x0F; |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
976 |
ec_slave_read_al_status_code(slave); |
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
977 |
ec_slave_state_ack(slave, state); |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
978 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
979 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
142
diff
changeset
|
980 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
981 |
if (likely(EC_READ_U8(datagram->data) == (state & 0x0F))) { |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
982 |
slave->current_state = state; |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
190
diff
changeset
|
983 |
return 0; // state change successful |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
984 |
} |
113 | 985 |
|
986 |
if (unlikely((end - start) >= timeout)) { |
|
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
256
diff
changeset
|
987 |
slave->current_state = EC_SLAVE_STATE_UNKNOWN; |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
988 |
EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n", |
113 | 989 |
state, slave->ring_position); |
990 |
return -1; |
|
991 |
} |
|
992 |
} |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
55
diff
changeset
|
993 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
994 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
995 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
996 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
997 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
998 |
Prepares an FMMU configuration. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
999 |
Configuration data for the FMMU is saved in the slave structure and is |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1000 |
written to the slave in ecrt_master_activate(). |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1001 |
The FMMU configuration is done in a way, that the complete data range |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1002 |
of the corresponding sync manager is covered. Seperate FMMUs arce configured |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1003 |
for each domain. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1004 |
If the FMMU configuration is already prepared, the function returns with |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1005 |
success. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1006 |
\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
|
1007 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1008 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1009 |
int ec_slave_prepare_fmmu(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
|
1010 |
const ec_domain_t *domain, /**< domain */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1011 |
const ec_sync_t *sync /**< sync manager */ |
160
7ddf8367196a
Renamed slave_set_fmmu() to slave_prepare_fmmu().
Florian Pose <fp@igh-essen.com>
parents:
157
diff
changeset
|
1012 |
) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1013 |
{ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1014 |
unsigned int i; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1015 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1016 |
// FMMU configuration already prepared? |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1017 |
for (i = 0; i < slave->fmmu_count; i++) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1018 |
if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1019 |
return 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1020 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1021 |
// reserve new FMMU... |
91
0120d6214948
Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents:
89
diff
changeset
|
1022 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1023 |
if (slave->fmmu_count >= slave->base_fmmu_count) { |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1024 |
EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1025 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1026 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1027 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1028 |
slave->fmmus[slave->fmmu_count].domain = domain; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1029 |
slave->fmmus[slave->fmmu_count].sync = sync; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1030 |
slave->fmmus[slave->fmmu_count].logical_start_address = 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1031 |
slave->fmmu_count++; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1032 |
slave->registered = 1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1033 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1034 |
return 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1035 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1036 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1037 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1038 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1039 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1040 |
Outputs all information about a certain slave. |
140
b09658e50d6f
Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
1041 |
Verbosity: |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1042 |
- 0: Only slave types and addresses |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1043 |
- 1: with EEPROM information |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1044 |
- >1: with SDO dictionaries |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1045 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1046 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1047 |
void ec_slave_print(const 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
|
1048 |
unsigned int verbosity /**< verbosity level */ |
140
b09658e50d6f
Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
1049 |
) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1050 |
{ |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
1051 |
ec_eeprom_sync_t *sync; |
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
1052 |
ec_eeprom_pdo_t *pdo; |
139 | 1053 |
ec_eeprom_pdo_entry_t *pdo_entry; |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1054 |
ec_sdo_t *sdo; |
139 | 1055 |
ec_sdo_entry_t *sdo_entry; |
142 | 1056 |
int first, i; |
126
bbc963b9fead
Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents:
124
diff
changeset
|
1057 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1058 |
if (slave->type) { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1059 |
EC_INFO("%i) %s %s: %s\n", slave->ring_position, |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1060 |
slave->type->vendor_name, slave->type->product_name, |
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1061 |
slave->type->description); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1062 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
1063 |
else { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1064 |
EC_INFO("%i) UNKNOWN SLAVE: vendor 0x%08X, product 0x%08X\n", |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1065 |
slave->ring_position, slave->sii_vendor_id, |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1066 |
slave->sii_product_code); |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1067 |
} |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1068 |
|
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1069 |
if (!verbosity) return; |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1070 |
|
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1071 |
EC_INFO(" Station address: 0x%04X\n", slave->station_address); |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1072 |
|
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1073 |
EC_INFO(" Data link status:\n"); |
183
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1074 |
for (i = 0; i < 4; i++) { |
190
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1075 |
EC_INFO(" Port %i (", i); |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1076 |
switch (slave->sii_physical_layer[i]) { |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1077 |
case 0x00: |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1078 |
printk("EBUS"); |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1079 |
break; |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1080 |
case 0x01: |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1081 |
printk("100BASE-TX"); |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1082 |
break; |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1083 |
case 0x02: |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1084 |
printk("100BASE-FX"); |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1085 |
break; |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1086 |
default: |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1087 |
printk("unknown"); |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1088 |
} |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1089 |
printk(")\n"); |
4e32bcc6b361
Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents:
188
diff
changeset
|
1090 |
EC_INFO(" link %s, loop %s, %s\n", |
183
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1091 |
slave->dl_link[i] ? "up" : "down", |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1092 |
slave->dl_loop[i] ? "closed" : "open", |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1093 |
slave->dl_signal[i] ? "signal detected" : "no signal"); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1094 |
} |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1095 |
|
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1096 |
EC_INFO(" Base information:\n"); |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1097 |
EC_INFO(" Type %u, revision %i, build %i\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1098 |
slave->base_type, slave->base_revision, slave->base_build); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1099 |
EC_INFO(" Supported FMMUs: %i, sync managers: %i\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1100 |
slave->base_fmmu_count, slave->base_sync_count); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1101 |
|
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1102 |
if (slave->sii_mailbox_protocols) { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1103 |
EC_INFO(" Mailbox communication:\n"); |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1104 |
EC_INFO(" RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1105 |
slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size, |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1106 |
slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1107 |
EC_INFO(" Supported protocols: "); |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1108 |
|
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1109 |
first = 1; |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1110 |
if (slave->sii_mailbox_protocols & EC_MBOX_AOE) { |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1111 |
printk("AoE"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1112 |
first = 0; |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1113 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1114 |
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) { |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1115 |
if (!first) printk(", "); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1116 |
printk("EoE"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1117 |
first = 0; |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1118 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1119 |
if (slave->sii_mailbox_protocols & EC_MBOX_COE) { |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1120 |
if (!first) printk(", "); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1121 |
printk("CoE"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1122 |
first = 0; |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1123 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1124 |
if (slave->sii_mailbox_protocols & EC_MBOX_FOE) { |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1125 |
if (!first) printk(", "); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1126 |
printk("FoE"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1127 |
first = 0; |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1128 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1129 |
if (slave->sii_mailbox_protocols & EC_MBOX_SOE) { |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1130 |
if (!first) printk(", "); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1131 |
printk("SoE"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1132 |
first = 0; |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1133 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1134 |
if (slave->sii_mailbox_protocols & EC_MBOX_VOE) { |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1135 |
if (!first) printk(", "); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1136 |
printk("VoE"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1137 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1138 |
printk("\n"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1139 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1140 |
|
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1141 |
EC_INFO(" EEPROM data:\n"); |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1142 |
|
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1143 |
EC_INFO(" EEPROM content size: %i Bytes\n", slave->eeprom_size); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1144 |
|
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1145 |
if (slave->sii_alias) |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1146 |
EC_INFO(" Configured station alias: 0x%04X (%i)\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1147 |
slave->sii_alias, slave->sii_alias); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1148 |
|
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1149 |
EC_INFO(" Vendor-ID: 0x%08X, Product code: 0x%08X\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1150 |
slave->sii_vendor_id, slave->sii_product_code); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1151 |
EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1152 |
slave->sii_revision_number, slave->sii_serial_number); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1153 |
|
264
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1154 |
if (slave->eeprom_group) |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1155 |
EC_INFO(" Group: %s\n", slave->eeprom_group); |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1156 |
if (slave->eeprom_image) |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1157 |
EC_INFO(" Image: %s\n", slave->eeprom_image); |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1158 |
if (slave->eeprom_order) |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1159 |
EC_INFO(" Order#: %s\n", slave->eeprom_order); |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1160 |
if (slave->eeprom_name) |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1161 |
EC_INFO(" Name: %s\n", slave->eeprom_name); |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1162 |
|
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1163 |
if (!list_empty(&slave->eeprom_syncs)) { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1164 |
EC_INFO(" Sync-Managers:\n"); |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1165 |
list_for_each_entry(sync, &slave->eeprom_syncs, list) { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1166 |
EC_INFO(" %i: 0x%04X, length %i, control 0x%02X, %s\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1167 |
sync->index, sync->physical_start_address, |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1168 |
sync->length, sync->control_register, |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1169 |
sync->enable ? "enable" : "disable"); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1170 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1171 |
} |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1172 |
|
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1173 |
list_for_each_entry(pdo, &slave->eeprom_pdos, list) { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1174 |
EC_INFO(" %s \"%s\" (0x%04X), -> Sync-Manager %i\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1175 |
pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO", |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1176 |
pdo->name ? pdo->name : "???", |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1177 |
pdo->index, pdo->sync_manager); |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1178 |
|
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1179 |
list_for_each_entry(pdo_entry, &pdo->entries, list) { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1180 |
EC_INFO(" \"%s\" 0x%04X:%X, %i Bit\n", |
147
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1181 |
pdo_entry->name ? pdo_entry->name : "???", |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1182 |
pdo_entry->index, pdo_entry->subindex, |
a355b587b4bc
Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
1183 |
pdo_entry->bit_length); |
140
b09658e50d6f
Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
1184 |
} |
b09658e50d6f
Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
1185 |
} |
b09658e50d6f
Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
1186 |
|
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1187 |
if (verbosity < 2) return; |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1188 |
|
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1189 |
if (!list_empty(&slave->sdo_dictionary)) { |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1190 |
EC_INFO(" SDO-Dictionary:\n"); |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1191 |
list_for_each_entry(sdo, &slave->sdo_dictionary, list) { |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1192 |
EC_INFO(" 0x%04X \"%s\"\n", sdo->index, |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1193 |
sdo->name ? sdo->name : ""); |
175
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
1194 |
EC_INFO(" Object code: 0x%02X\n", sdo->object_code); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1195 |
list_for_each_entry(sdo_entry, &sdo->entries, list) { |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1196 |
EC_INFO(" 0x%04X:%i \"%s\", type 0x%04X, %i bits\n", |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1197 |
sdo->index, sdo_entry->subindex, |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1198 |
sdo_entry->name ? sdo_entry->name : "", |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
1199 |
sdo_entry->data_type, sdo_entry->bit_length); |
139 | 1200 |
} |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1201 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1202 |
} |
123 | 1203 |
} |
1204 |
||
1205 |
/*****************************************************************************/ |
|
1206 |
||
1207 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1208 |
Outputs the values of the CRC faoult counters and resets them. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1209 |
\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
|
1210 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1211 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1212 |
int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */) |
74
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1213 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1214 |
ec_datagram_t *datagram; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1215 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1216 |
datagram = &slave->master->simple_datagram; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1217 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1218 |
if (ec_datagram_nprd(datagram, slave->station_address, 0x0300, 4)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1219 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1220 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
1221 |
EC_WARN("Reading CRC fault counters failed on slave %i!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1222 |
slave->ring_position); |
74
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1223 |
return -1; |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1224 |
} |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1225 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1226 |
if (!EC_READ_U32(datagram->data)) return 0; // no CRC faults |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1227 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1228 |
if (EC_READ_U8(datagram->data)) |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1229 |
EC_WARN("%3i RX-error%s on slave %i, channel A.\n", |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1230 |
EC_READ_U8(datagram->data), |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1231 |
EC_READ_U8(datagram->data) == 1 ? "" : "s", |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1232 |
slave->ring_position); |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1233 |
if (EC_READ_U8(datagram->data + 1)) |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1234 |
EC_WARN("%3i invalid frame%s on slave %i, channel A.\n", |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1235 |
EC_READ_U8(datagram->data + 1), |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1236 |
EC_READ_U8(datagram->data + 1) == 1 ? "" : "s", |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1237 |
slave->ring_position); |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1238 |
if (EC_READ_U8(datagram->data + 2)) |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1239 |
EC_WARN("%3i RX-error%s on slave %i, channel B.\n", |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1240 |
EC_READ_U8(datagram->data + 2), |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1241 |
EC_READ_U8(datagram->data + 2) == 1 ? "" : "s", |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1242 |
slave->ring_position); |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1243 |
if (EC_READ_U8(datagram->data + 3)) |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1244 |
EC_WARN("%3i invalid frame%s on slave %i, channel B.\n", |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1245 |
EC_READ_U8(datagram->data + 3), |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1246 |
EC_READ_U8(datagram->data + 3) == 1 ? "" : "s", |
132
63a5b40eb7da
CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents:
127
diff
changeset
|
1247 |
slave->ring_position); |
74
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1248 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1249 |
// reset CRC counters |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1250 |
if (ec_datagram_npwr(datagram, slave->station_address, 0x0300, 4)) |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1251 |
return -1; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1252 |
EC_WRITE_U32(datagram->data, 0x00000000); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
1253 |
if (unlikely(ec_master_simple_io(slave->master, datagram))) { |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
1254 |
EC_WARN("Resetting CRC fault counters failed on slave %i!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1255 |
slave->ring_position); |
74
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1256 |
return -1; |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1257 |
} |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1258 |
|
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1259 |
return 0; |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1260 |
} |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1261 |
|
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1262 |
/*****************************************************************************/ |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1263 |
|
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
|
1264 |
/** |
269 | 1265 |
Schedules an EEPROM write operation. |
1266 |
\return 0 in case of success, else < 0 |
|
1267 |
*/ |
|
1268 |
||
1269 |
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */ |
|
1270 |
const uint8_t *data, /**< new EEPROM data */ |
|
1271 |
size_t size /**< size of data in bytes */ |
|
1272 |
) |
|
1273 |
{ |
|
1274 |
uint16_t word_size, cat_type, cat_size; |
|
1275 |
const uint16_t *data_words, *next_header; |
|
1276 |
uint16_t *new_data; |
|
1277 |
||
1278 |
if (!slave->master->eeprom_write_enable) { |
|
1279 |
EC_ERR("Writing EEPROMs not allowed! Enable via" |
|
1280 |
" eeprom_write_enable SysFS entry.\n"); |
|
1281 |
return -1; |
|
1282 |
} |
|
1283 |
||
306
45886de3db87
Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents:
302
diff
changeset
|
1284 |
if (slave->master->mode != EC_MASTER_MODE_IDLE) { |
45886de3db87
Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents:
302
diff
changeset
|
1285 |
EC_ERR("Writing EEPROMs only allowed in idle mode!\n"); |
269 | 1286 |
return -1; |
1287 |
} |
|
1288 |
||
1289 |
if (slave->new_eeprom_data) { |
|
1290 |
EC_ERR("Slave %i already has a pending EEPROM write operation!\n", |
|
1291 |
slave->ring_position); |
|
1292 |
return -1; |
|
1293 |
} |
|
1294 |
||
1295 |
// coarse check of the data |
|
1296 |
||
1297 |
if (size % 2) { |
|
1298 |
EC_ERR("EEPROM size is odd! Dropping.\n"); |
|
1299 |
return -1; |
|
1300 |
} |
|
1301 |
||
1302 |
data_words = (const uint16_t *) data; |
|
1303 |
word_size = size / 2; |
|
1304 |
||
1305 |
if (word_size < 0x0041) { |
|
1306 |
EC_ERR("EEPROM data too short! Dropping.\n"); |
|
1307 |
return -1; |
|
1308 |
} |
|
1309 |
||
1310 |
next_header = data_words + 0x0040; |
|
1311 |
cat_type = EC_READ_U16(next_header); |
|
1312 |
while (cat_type != 0xFFFF) { |
|
1313 |
cat_type = EC_READ_U16(next_header); |
|
1314 |
cat_size = EC_READ_U16(next_header + 1); |
|
1315 |
if ((next_header + cat_size + 2) - data_words >= word_size) { |
|
1316 |
EC_ERR("EEPROM data seems to be corrupted! Dropping.\n"); |
|
1317 |
return -1; |
|
1318 |
} |
|
1319 |
next_header += cat_size + 2; |
|
1320 |
cat_type = EC_READ_U16(next_header); |
|
1321 |
} |
|
1322 |
||
1323 |
// data ok! |
|
1324 |
||
1325 |
if (!(new_data = (uint16_t *) kmalloc(word_size * 2, GFP_KERNEL))) { |
|
1326 |
EC_ERR("Unable to allocate memory for new EEPROM data!\n"); |
|
1327 |
return -1; |
|
1328 |
} |
|
1329 |
memcpy(new_data, data, size); |
|
1330 |
||
1331 |
slave->new_eeprom_size = word_size; |
|
1332 |
slave->new_eeprom_data = new_data; |
|
1333 |
||
1334 |
EC_INFO("EEPROM writing scheduled for slave %i, %i words.\n", |
|
1335 |
slave->ring_position, word_size); |
|
1336 |
return 0; |
|
1337 |
} |
|
1338 |
||
1339 |
/*****************************************************************************/ |
|
1340 |
||
1341 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1342 |
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
|
1343 |
\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
|
1344 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1345 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1346 |
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
|
1347 |
struct attribute *attr, /**< attribute */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
1348 |
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
|
1349 |
) |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1350 |
{ |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1351 |
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
|
1352 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1353 |
if (attr == &attr_ring_position) { |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1354 |
return sprintf(buffer, "%i\n", slave->ring_position); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1355 |
} |
315 | 1356 |
else if (attr == &attr_advanced_position) { |
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
185
diff
changeset
|
1357 |
return sprintf(buffer, "%i:%i\n", slave->coupler_index, |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
185
diff
changeset
|
1358 |
slave->coupler_subindex); |
183
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1359 |
} |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1360 |
else if (attr == &attr_vendor_name) { |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1361 |
if (slave->type) |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1362 |
return sprintf(buffer, "%s\n", slave->type->vendor_name); |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1363 |
} |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1364 |
else if (attr == &attr_product_name) { |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1365 |
if (slave->type) |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1366 |
return sprintf(buffer, "%s\n", slave->type->product_name); |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1367 |
} |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1368 |
else if (attr == &attr_product_desc) { |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1369 |
if (slave->type) |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1370 |
return sprintf(buffer, "%s\n", slave->type->description); |
8ae1e011e96c
More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents:
182
diff
changeset
|
1371 |
} |
315 | 1372 |
else if (attr == &attr_name) { |
264
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1373 |
if (slave->eeprom_name) |
76cba93ba122
Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents:
260
diff
changeset
|
1374 |
return sprintf(buffer, "%s\n", slave->eeprom_name); |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
1375 |
} |
185
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1376 |
else if (attr == &attr_type) { |
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1377 |
if (slave->type) { |
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1378 |
if (slave->type->special == EC_TYPE_BUS_COUPLER) |
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1379 |
return sprintf(buffer, "coupler\n"); |
290
57a4201cbb0f
Introducing infrastructural slaves that do not contain process data.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
1380 |
else if (slave->type->special == EC_TYPE_INFRA) |
57a4201cbb0f
Introducing infrastructural slaves that do not contain process data.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
1381 |
return sprintf(buffer, "infrastructure\n"); |
185
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1382 |
else |
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1383 |
return sprintf(buffer, "normal\n"); |
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1384 |
} |
af570302dcee
Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
1385 |
} |
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1386 |
else if (attr == &attr_state) { |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1387 |
switch (slave->current_state) { |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1388 |
case EC_SLAVE_STATE_INIT: |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1389 |
return sprintf(buffer, "INIT\n"); |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1390 |
case EC_SLAVE_STATE_PREOP: |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1391 |
return sprintf(buffer, "PREOP\n"); |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1392 |
case EC_SLAVE_STATE_SAVEOP: |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1393 |
return sprintf(buffer, "SAVEOP\n"); |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1394 |
case EC_SLAVE_STATE_OP: |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1395 |
return sprintf(buffer, "OP\n"); |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1396 |
default: |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1397 |
return sprintf(buffer, "UNKNOWN\n"); |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1398 |
} |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1399 |
} |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1400 |
else if (attr == &attr_eeprom) { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1401 |
if (slave->eeprom_data) { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1402 |
if (slave->eeprom_size > PAGE_SIZE) { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1403 |
EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n", |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1404 |
slave->ring_position, slave->eeprom_size, |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1405 |
(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
|
1406 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1407 |
else { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1408 |
memcpy(buffer, slave->eeprom_data, slave->eeprom_size); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1409 |
return slave->eeprom_size; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1410 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1411 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
264
diff
changeset
|
1412 |
} |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1413 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1414 |
return 0; |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1415 |
} |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
1416 |
|
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1417 |
/*****************************************************************************/ |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1418 |
|
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1419 |
/** |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1420 |
Formats attribute data for SysFS write access. |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1421 |
\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
|
1422 |
*/ |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1423 |
|
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1424 |
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
|
1425 |
struct attribute *attr, /**< attribute */ |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1426 |
const char *buffer, /**< memory with data */ |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1427 |
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
|
1428 |
) |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1429 |
{ |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1430 |
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
|
1431 |
|
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1432 |
if (attr == &attr_state) { |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1433 |
if (!strcmp(buffer, "INIT\n")) |
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1434 |
slave->requested_state = EC_SLAVE_STATE_INIT; |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1435 |
else if (!strcmp(buffer, "PREOP\n")) |
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1436 |
slave->requested_state = EC_SLAVE_STATE_PREOP; |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1437 |
else if (!strcmp(buffer, "SAVEOP\n")) |
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1438 |
slave->requested_state = EC_SLAVE_STATE_SAVEOP; |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1439 |
else if (!strcmp(buffer, "OP\n")) |
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1440 |
slave->requested_state = EC_SLAVE_STATE_OP; |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1441 |
else { |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1442 |
EC_ERR("Invalid slave state \"%s\"!\n", buffer); |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1443 |
return -EINVAL; |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1444 |
} |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1445 |
|
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1446 |
EC_INFO("Accepted new state %s for slave %i.\n", |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1447 |
buffer, slave->ring_position); |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1448 |
slave->error_flag = 0; |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1449 |
return size; |
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1450 |
} |
269 | 1451 |
else if (attr == &attr_eeprom) { |
1452 |
if (!ec_slave_write_eeprom(slave, buffer, size)) |
|
1453 |
return size; |
|
1454 |
} |
|
256
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1455 |
|
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1456 |
return -EINVAL; |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1457 |
} |
dc71aee17f8a
SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents:
251
diff
changeset
|
1458 |
|
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1459 |
/*****************************************************************************/ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1460 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1461 |
/** |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1462 |
\return size of sync manager contents |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1463 |
*/ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1464 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1465 |
size_t ec_slave_calc_sync_size(const ec_slave_t *slave, /**< EtherCAT slave */ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1466 |
const ec_sync_t *sync /**< sync manager */ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1467 |
) |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1468 |
{ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1469 |
unsigned int i, found; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1470 |
const ec_field_t *field; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1471 |
const ec_varsize_t *var; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1472 |
size_t size; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1473 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1474 |
// if size is specified, return size |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1475 |
if (sync->size) return sync->size; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1476 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1477 |
// sync manager has variable size (size == 0). |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1478 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1479 |
size = 0; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1480 |
for (i = 0; (field = sync->fields[i]); i++) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1481 |
found = 0; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1482 |
list_for_each_entry(var, &slave->varsize_fields, list) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1483 |
if (var->field != field) continue; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1484 |
size += var->size; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1485 |
found = 1; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1486 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1487 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1488 |
if (!found) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1489 |
EC_WARN("Variable data field \"%s\" of slave %i has no size" |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1490 |
" information!\n", field->name, slave->ring_position); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1491 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1492 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1493 |
return size; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1494 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1495 |
|
298
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1496 |
/*****************************************************************************/ |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1497 |
|
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1498 |
/** |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1499 |
Calculates the size of a sync manager by evaluating PDO sizes. |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1500 |
\return sync manager size |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1501 |
*/ |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1502 |
|
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1503 |
uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *slave, |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1504 |
/**< EtherCAT slave */ |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1505 |
const ec_eeprom_sync_t *sync |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1506 |
/**< sync manager */ |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1507 |
) |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1508 |
{ |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1509 |
ec_eeprom_pdo_t *pdo; |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1510 |
ec_eeprom_pdo_entry_t *pdo_entry; |
320
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1511 |
unsigned int bit_size; |
298
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1512 |
|
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1513 |
if (sync->length) return sync->length; |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1514 |
|
320
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1515 |
bit_size = 0; |
298
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1516 |
list_for_each_entry(pdo, &slave->eeprom_pdos, list) { |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1517 |
if (pdo->sync_manager != sync->index) continue; |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1518 |
|
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1519 |
list_for_each_entry(pdo_entry, &pdo->entries, list) { |
320
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1520 |
bit_size += pdo_entry->bit_length; |
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1521 |
} |
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1522 |
} |
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1523 |
|
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1524 |
if (bit_size % 8) // round up to full bytes |
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1525 |
return bit_size / 8 + 1; |
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1526 |
else |
71d559ec66d7
Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
1527 |
return bit_size / 8; |
298
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1528 |
} |
d491d1f84ebc
Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents:
296
diff
changeset
|
1529 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1530 |
/****************************************************************************** |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1531 |
* Realtime interface |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1532 |
*****************************************************************************/ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1533 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1534 |
/** |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1535 |
Writes the "configured station alias" to the slave's EEPROM. |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1536 |
\return 0 in case of success, else < 0 |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1537 |
\ingroup RealtimeInterface |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1538 |
*/ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1539 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1540 |
int ecrt_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1541 |
uint16_t alias /**< new alias */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1542 |
) |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1543 |
{ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1544 |
return ec_slave_sii_write16(slave, 0x0004, alias); |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1545 |
} |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1546 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1547 |
/*****************************************************************************/ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1548 |
|
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1549 |
/** |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1550 |
\return 0 in case of success, else < 0 |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1551 |
\ingroup RealtimeInterface |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1552 |
*/ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1553 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1554 |
int ecrt_slave_field_size(ec_slave_t *slave, /**< EtherCAT slave */ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1555 |
const char *field_name, /**< data field name */ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1556 |
unsigned int field_index, /**< data field index */ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1557 |
size_t size /**< new data field size */ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1558 |
) |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1559 |
{ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1560 |
unsigned int i, j, field_counter; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1561 |
const ec_sync_t *sync; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1562 |
const ec_field_t *field; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1563 |
ec_varsize_t *var; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1564 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1565 |
if (!slave->type) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1566 |
EC_ERR("Slave %i has no type information!\n", slave->ring_position); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1567 |
return -1; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1568 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1569 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1570 |
field_counter = 0; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1571 |
for (i = 0; (sync = slave->type->sync_managers[i]); i++) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1572 |
for (j = 0; (field = sync->fields[j]); j++) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1573 |
if (!strcmp(field->name, field_name)) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1574 |
if (field_counter++ == field_index) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1575 |
// is the size of this field variable? |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1576 |
if (field->size) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1577 |
EC_ERR("Field \"%s\"[%i] of slave %i has no variable" |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1578 |
" size!\n", field->name, field_index, |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1579 |
slave->ring_position); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1580 |
return -1; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1581 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1582 |
// does a size specification already exist? |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1583 |
list_for_each_entry(var, &slave->varsize_fields, list) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1584 |
if (var->field == field) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1585 |
EC_WARN("Resizing field \"%s\"[%i] of slave %i.\n", |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1586 |
field->name, field_index, |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1587 |
slave->ring_position); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1588 |
var->size = size; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1589 |
return 0; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1590 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1591 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1592 |
// create a new size specification... |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1593 |
if (!(var = kmalloc(sizeof(ec_varsize_t), GFP_KERNEL))) { |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1594 |
EC_ERR("Failed to allocate memory for varsize_t!\n"); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1595 |
return -1; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1596 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1597 |
var->field = field; |
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parents:
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diff
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|
1598 |
var->size = size; |
ba51285d4ef6
Variable-sized data fields, BK1120.
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parents:
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diff
changeset
|
1599 |
list_add_tail(&var->list, &slave->varsize_fields); |
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Variable-sized data fields, BK1120.
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parents:
269
diff
changeset
|
1600 |
return 0; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1601 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1602 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1603 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1604 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1605 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
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parents:
269
diff
changeset
|
1606 |
EC_ERR("Slave %i (\"%s %s\") has no field \"%s\"[%i]!\n", |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1607 |
slave->ring_position, slave->type->vendor_name, |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1608 |
slave->type->product_name, field_name, field_index); |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1609 |
return -1; |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1610 |
} |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1611 |
|
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1612 |
/*****************************************************************************/ |
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1613 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1614 |
/**< \cond */ |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
163
diff
changeset
|
1615 |
|
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
136
diff
changeset
|
1616 |
EXPORT_SYMBOL(ecrt_slave_write_alias); |
275
ba51285d4ef6
Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents:
269
diff
changeset
|
1617 |
EXPORT_SYMBOL(ecrt_slave_field_size); |
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
136
diff
changeset
|
1618 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1619 |
/**< \endcond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1620 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
1621 |
/*****************************************************************************/ |