master/canopen.c
author Florian Pose <fp@igh-essen.com>
Tue, 28 Mar 2006 15:45:19 +0000
changeset 136 a03a684cac89
parent 135 80d493917205
child 137 3fb18812871a
permissions -rw-r--r--
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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/******************************************************************************
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 *
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 *  c a n o p e n . c
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 *
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 *  CANopen over EtherCAT
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 *
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 *  $Id$
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 *
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 *****************************************************************************/
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#include <linux/delay.h>
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#include <linux/slab.h>
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#include <linux/module.h>
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#include "master.h"
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/*****************************************************************************/
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/**
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   SDO Abort Code Messages
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*/
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typedef struct
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{
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    uint32_t code;
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    const char *message;
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}
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ec_sdo_abort_message_t;
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const ec_sdo_abort_message_t sdo_abort_messages[];
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void ec_canopen_abort_msg(uint32_t);
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int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
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/*****************************************************************************/
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/**
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   Schreibt ein CANopen-SDO (service data object).
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 */
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int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
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                         uint16_t sdo_index, /**< SDO-Index */
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                         uint8_t sdo_subindex, /**< SDO-Subindex */
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                         uint32_t value, /**< Neuer Wert */
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                         size_t size /**< Größe des Datenfeldes */
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                         )
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{
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    uint8_t data[0x0A];
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    unsigned int i;
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    size_t rec_size;
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    if (size == 0 || size > 4) {
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        EC_ERR("Invalid SDO data size: %i!\n", size);
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        return -1;
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    }
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    EC_WRITE_U16(data,     0x02 << 12); // Number (0), Service (SDO request)
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    EC_WRITE_U8 (data + 2, 0x23 | ((4 - size) << 2)); // Spec., exp., init.
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    EC_WRITE_U16(data + 3, sdo_index);
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    EC_WRITE_U8 (data + 5, sdo_subindex);
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    for (i = 0; i < size; i++) {
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        EC_WRITE_U8(data + 6 + i, value & 0xFF);
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        value >>= 8;
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    }
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    // Mailox senden und empfangen
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    if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1;
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    rec_size = 0x0A;
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    if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
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    if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request
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        EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
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        EC_ERR("SDO download of 0x%04X:%X (value %X, size %X) aborted on slave"
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               " %i.\n", sdo_index, sdo_subindex, value, size,
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               slave->ring_position);
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        ec_canopen_abort_msg(EC_READ_U32(data + 6));
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        return -1;
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    }
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    if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
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        EC_READ_U8 (data + 2) >> 5 != 0x03 || // Download response
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        EC_READ_U16(data + 3) != sdo_index || // Index
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        EC_READ_U8 (data + 5) != sdo_subindex) // Subindex
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    {
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        EC_ERR("Invalid SDO download response at slave %i!\n",
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               slave->ring_position);
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Liest ein CANopen-SDO (service data object).
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 */
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int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
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                        uint16_t sdo_index, /**< SDO-Index */
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                        uint8_t sdo_subindex, /**< SDO-Subindex */
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                        uint32_t *value /**< Speicher für gel. Wert */
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                        )
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{
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    uint8_t data[0x20];
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    size_t rec_size;
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    EC_WRITE_U16(data,     0x2000); // Number (0), Service = SDO request
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    EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Expedited upload request
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    EC_WRITE_U16(data + 3, sdo_index);
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    EC_WRITE_U8 (data + 5, sdo_subindex);
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    if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
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134
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    rec_size = 0x20;
133
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    if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
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134
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    if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request
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        EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transfer request
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        EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
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               sdo_index, sdo_subindex, slave->ring_position);
133
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        ec_canopen_abort_msg(EC_READ_U32(data + 6));
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        return -1;
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    }
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    if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
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        EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response
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        EC_READ_U16(data + 3) != sdo_index || // Index
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        EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
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        EC_ERR("Invalid SDO upload response at slave %i!\n",
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               slave->ring_position);
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        return -1;
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    }
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133
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    *value = EC_READ_U32(data + 6);
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    return 0;
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}
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/*****************************************************************************/
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91
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/**
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   Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
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104
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   Siehe ecrt_slave_sdo_write()
91
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   \return 0 wenn alles ok, < 0 bei Fehler
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 */
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104
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int ecrt_master_sdo_write(ec_master_t *master,
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                          /**< EtherCAT-Master */
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                          const char *addr,
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                          /**< Addresse, siehe ec_master_slave_address() */
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                          uint16_t index,
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                          /**< SDO-Index */
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                          uint8_t subindex,
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                          /**< SDO-Subindex */
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                          uint32_t value,
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                          /**< Neuer Wert */
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                          size_t size
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                          /**< Größe des Datenfeldes */
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                          )
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{
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    ec_slave_t *slave;
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    if (!(slave = ec_master_slave_address(master, addr))) return -1;
104
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    return ecrt_slave_sdo_write(slave, index, subindex, value, size);
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}
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/*****************************************************************************/
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91
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/**
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   Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
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104
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   Siehe ecrt_slave_sdo_read()
91
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   \return 0 wenn alles ok, < 0 bei Fehler
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 */
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104
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int ecrt_master_sdo_read(ec_master_t *master,
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                         /**< EtherCAT-Slave */
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                         const char *addr,
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                         /**< Addresse, siehe ec_master_slave_address() */
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                         uint16_t index,
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                         /**< SDO-Index */
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                         uint8_t subindex,
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                         /**< SDO-Subindex */
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                         uint32_t *value
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                         /**< Speicher für gel. Wert */
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                         )
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{
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    ec_slave_t *slave;
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    if (!(slave = ec_master_slave_address(master, addr))) return -1;
104
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    return ecrt_slave_sdo_read(slave, index, subindex, value);
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}
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/*****************************************************************************/
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133
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/**
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   Holt das Object-Dictionary aus dem Slave.
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   201
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   \return 0, wenn alles ok, sonst < 0
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*/
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int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
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{
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    uint8_t data[0xF0];
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    size_t rec_size;
135
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    unsigned int i, sdo_count;
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    ec_sdo_t *sdo;
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    uint16_t sdo_index;
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    EC_WRITE_U16(data,     0x8000); // Number (0), Service = SDO information
133
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    EC_WRITE_U8 (data + 2,   0x01); // Get OD List Request
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    EC_WRITE_U8 (data + 3,   0x00); // res.
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    EC_WRITE_U16(data + 4, 0x0000); // fragments left
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    EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
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    if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
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135
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    do {
133
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        rec_size = 0xF0;
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        if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
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        if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information
135
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            (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // Error response
133
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            EC_ERR("SDO information error response at slave %i!\n",
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                   slave->ring_position);
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            ec_canopen_abort_msg(EC_READ_U32(data + 6));
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            return -1;
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        }
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        if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information
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            (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
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            EC_ERR("Invalid SDO list response at slave %i!\n",
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                   slave->ring_position);
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            return -1;
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        }
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        if (rec_size < 8) {
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            EC_ERR("Invalid data size!\n");
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            return -1;
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        }
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135
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        sdo_count = (rec_size - 8) / 2;
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        for (i = 0; i < sdo_count; i++) {
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            sdo_index = EC_READ_U16(data + 8 + i * 2);
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            if (!sdo_index) continue; // Manchmal ist der Index 0... ???
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            if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
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                EC_ERR("Failed to allocate memory for SDO!\n");
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                return -1;
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            }
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            sdo->index = sdo_index;
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            sdo->name = NULL;
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            list_add_tail(&sdo->list, &slave->sdo_dictionary);
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        }
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    } while (EC_READ_U8(data + 2) & 0x80);
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    // Jetzt alle Beschreibungen holen
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    if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Holt die Beschreibungen zu allen bereits bekannten SDOs.
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   \return 0, wenn alles ok, sonst < 0
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*/
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int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
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{
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    uint8_t data[0xF0];
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    size_t rec_size, name_size;
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    ec_sdo_t *sdo;
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    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
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        EC_WRITE_U16(data,     0x8000); // Number (0), Service = SDO inform.
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        EC_WRITE_U8 (data + 2,   0x03); // Get object description request
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        EC_WRITE_U8 (data + 3,   0x00); // res.
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        EC_WRITE_U16(data + 4, 0x0000); // fragments left
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        EC_WRITE_U16(data + 6, sdo->index); // SDO index
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        if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
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        rec_size = 0xF0;
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        if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size))
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            return -1;
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        if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information
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            (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
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   294
            EC_ERR("SDO information error response at slave %i while"
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                   " fetching SDO 0x%04X!\n", slave->ring_position,
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                   sdo->index);
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            ec_canopen_abort_msg(EC_READ_U32(data + 6));
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            return -1;
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        }
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        if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information
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            (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Obj. desc. resp.
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            EC_READ_U16(data + 6) != sdo->index) { // SDO index
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            EC_ERR("Invalid object description response at slave %i while"
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                   " fetching SDO 0x%04X!\n", slave->ring_position,
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                   sdo->index);
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            return -1;
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   308
        }
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        if (rec_size < 12) {
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            EC_ERR("Invalid data size!\n");
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            return -1;
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        }
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        sdo->type = EC_READ_U16(data + 8);
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   316
        sdo->max_subindex = EC_READ_U8(data + 10);
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   317
        sdo->features = EC_READ_U8(data + 11);
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   318
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        name_size = rec_size - 12;
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        if (!name_size) {
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            EC_WARN("Object 0x%04X name size is 0...", sdo->index);
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            continue;
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   323
        }
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   324
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        if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
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   326
            EC_ERR("Failed to allocate SDO name!\n");
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   327
            return -1;
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   328
        }
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diff changeset
   329
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   330
        memcpy(sdo->name, data + 12, name_size);
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diff changeset
   331
        sdo->name[name_size] = 0;
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diff changeset
   332
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   333
        if (EC_READ_U8(data + 2) & 0x80)
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diff changeset
   334
            EC_WARN("Fragment follows in object description!\n");
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diff changeset
   335
    }
133
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diff changeset
   336
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   337
    return 0;
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diff changeset
   338
}
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   340
/*****************************************************************************/
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   342
/**
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   343
   Gibt eine SDO-Abort-Meldung aus.
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   344
*/
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   346
void ec_canopen_abort_msg(uint32_t abort_code)
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{
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    const ec_sdo_abort_message_t *abort_msg;
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    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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        if (abort_msg->code == abort_code) {
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            EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
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                   abort_msg->code, abort_msg->message);
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            return;
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        }
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    }
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    EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
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   358
}
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   359
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   360
/*****************************************************************************/
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111
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const ec_sdo_abort_message_t sdo_abort_messages[] = {
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    {0x05030000, "Toggle bit not changed"},
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   364
    {0x05040000, "SDO protocol timeout"},
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   365
    {0x05040001, "Client/Server command specifier not valid or unknown"},
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   366
    {0x05040005, "Out of memory"},
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    {0x06010000, "Unsupported access to an object"},
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    {0x06010001, "Attempt to read a write-only object"},
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    {0x06010002, "Attempt to write a read-only object"},
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   370
    {0x06020000, "This object does not exist in the object directory"},
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   371
    {0x06040041, "The object cannot be mapped into the PDO"},
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    {0x06040042, "The number and length of the objects to be mapped would"
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   373
     " exceed the PDO length"},
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   374
    {0x06040043, "General parameter incompatibility reason"},
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   375
    {0x06040047, "Gerneral internal incompatibility in device"},
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   376
    {0x06060000, "Access failure due to a hardware error"},
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   377
    {0x06070010, "Data type does not match, length of service parameter does"
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   378
     " not match"},
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   379
    {0x06070012, "Data type does not match, length of service parameter too"
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   380
     " high"},
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   381
    {0x06070013, "Data type does not match, length of service parameter too"
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   382
     " low"},
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   383
    {0x06090011, "Subindex does not exist"},
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   384
    {0x06090030, "Value range of parameter exceeded"},
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   385
    {0x06090031, "Value of parameter written too high"},
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   386
    {0x06090032, "Value of parameter written too low"},
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   387
    {0x06090036, "Maximum value is less than minimum value"},
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   388
    {0x08000000, "General error"},
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   389
    {0x08000020, "Data cannot be transferred or stored to the application"},
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   390
    {0x08000021, "Data cannot be transferred or stored to the application"
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   391
     " because of local control"},
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   392
    {0x08000022, "Data cannot be transferred or stored to the application"
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   393
     " because of the present device state"},
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   394
    {0x08000023, "Object dictionary dynamic generation fails or no object"
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   395
     " dictionary is present"},
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   396
    {}
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   397
};
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   398
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   399
/*****************************************************************************/
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   400
104
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   401
EXPORT_SYMBOL(ecrt_slave_sdo_write);
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   402
EXPORT_SYMBOL(ecrt_slave_sdo_read);
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   403
EXPORT_SYMBOL(ecrt_master_sdo_write);
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   404
EXPORT_SYMBOL(ecrt_master_sdo_read);
64
ea6ccf12c612 CANopen over EtherCAT.
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   405
ea6ccf12c612 CANopen over EtherCAT.
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   406
/*****************************************************************************/
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   407
ea6ccf12c612 CANopen over EtherCAT.
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   408
/* Emacs-Konfiguration
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   409
;;; Local Variables: ***
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   410
;;; c-basic-offset:4 ***
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   411
;;; End: ***
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   412
*/