etherlabmaster: master/canopen.c@b9a6e2c22745 (annotated)

64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* c a n o p e n . c
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* CANopen over EtherCAT
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* $Id$
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	11	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	12	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* and/or modify it under the terms of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* as published by the Free Software Foundation; version 2 of the License.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	23	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	24	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	25	*
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	27
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	#include <linux/delay.h>
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	29	#include <linux/slab.h>
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	30	#include <linux/module.h>
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	31
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include "master.h"
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	33	#include "mailbox.h"
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	37	void ec_canopen_abort_msg(uint32_t);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	38	int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	39	int ec_slave_fetch_sdo_entries(ec_slave_t , ec_sdo_t , uint8_t);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	40
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	41	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	42
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	43	const ec_code_msg_t sdo_abort_messages[];
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	44
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	45	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	46
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	47	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	48	Reads 32 bit of a CANopen SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	49	\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	50	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	51	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	52
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	53	int ec_slave_sdo_read_exp(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	54	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	55	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	56	uint8_t target /< 4-byte memory /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	57	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	58	{
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	59	size_t rec_size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	60	uint8_t *data;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	61
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	62	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	63
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	64	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	65	EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	66	\| 0x2 << 5)); // initiate upload request
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	67	EC_WRITE_U16(data + 3, sdo_index);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	68	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	69
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	70	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	71
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	72	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	73	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	74	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	75	sdo_index, sdo_subindex, slave->ring_position);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	76	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	77	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	78	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	79
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	80	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	81	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // upload response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	82	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	83	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
159 acb250c92896 Fixed invalid format string. Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	84	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	85	EC_ERR("Invalid SDO upload response at slave %i!\n",
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	86	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	87	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	88	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	89	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	90
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	91	memcpy(target, data + 6, 4);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	92	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	93	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	94
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	95	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	96
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	97	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	98	Writes a CANopen SDO using expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	99	\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	100	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	101	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	102
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	103	int ec_slave_sdo_write_exp(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	104	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	105	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	106	const uint8_t sdo_data, /< new value /
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	107	size_t size /*< Data size in bytes (1 - 4) /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	108	)
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	110	uint8_t *data;
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: 113 diff changeset	111	size_t rec_size;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	if (size == 0 \|\| size > 4) {
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	114	EC_ERR("Invalid data size!\n");
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	115	return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	116	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	117
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	118	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	119
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	120	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	121	EC_WRITE_U8 (data + 2, (0x1 // size specified
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	122	\| 0x1 << 1 // expedited transfer
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	123	\| (4 - size) << 2 // data set size
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	124	\| 0x1 << 5)); // initiate download request
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: 113 diff changeset	125	EC_WRITE_U16(data + 3, sdo_index);
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: 113 diff changeset	126	EC_WRITE_U8 (data + 5, sdo_subindex);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	127	memcpy(data + 6, sdo_data, size);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	128	if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	129
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	130	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) 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: 113 diff changeset	131
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	132	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	133	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	134	EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	135	sdo_index, sdo_subindex, size, slave->ring_position);
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: 113 diff changeset	136	ec_canopen_abort_msg(EC_READ_U32(data + 6));
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: 113 diff changeset	137	return -1;
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: 113 diff changeset	138	}
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: 113 diff changeset	139
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	140	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	141	EC_READ_U8 (data + 2) >> 5 != 0x3 \|\| // download response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	142	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	143	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	144	EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	145	sdo_index, sdo_subindex, size);
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	146	EC_ERR("Invalid SDO download response at slave %i!\n",
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	147	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	148	ec_print_data(data, rec_size);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	151
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	return 0;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	154
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	156
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	157	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	158	Reads a CANopen SDO in normal mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	159	\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	160	\ingroup Slave
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	161	\todo size
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	162	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	163
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	164	int ecrt_slave_sdo_read(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	165	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	166	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	167	uint8_t target, /< memory for value /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	168	size_t size /< target memory size /
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	169	)
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	170	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	171	uint8_t *data;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	172	size_t rec_size, data_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	173	uint32_t complete_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	174
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	175	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	176
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	177	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	178	EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	179	EC_WRITE_U16(data + 3, sdo_index);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	180	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	181
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	182	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	183
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	184	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	185	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	186	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	187	sdo_index, sdo_subindex, slave->ring_position);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	188	ec_canopen_abort_msg(EC_READ_U32(data + 6));
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	189	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	190	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	191
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	192	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	193	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // initiate upload response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	194	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	195	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	196	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	197	EC_ERR("Invalid SDO upload response at slave %i!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	198	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	199	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	200	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	201	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	202
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	203	if (rec_size < 10) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	204	EC_ERR("Received currupted SDO upload response!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	205	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	206	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	207	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	208
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	209	if ((complete_size = EC_READ_U32(data + 6)) > *size) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	210	EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	211	complete_size, *size);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	212	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	213	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	214
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	215	data_size = rec_size - 10;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	216
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	217	if (data_size != complete_size) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	218	EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	219	return -1;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	220	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	221
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	222	memcpy(target, data + 10, data_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	223	return 0;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	224	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	225
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	226	/*****************************************************************************/
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	227
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	228	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	229	Fetches the SDO dictionary of a slave.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	230	\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	231	\ingroup Slave
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: 113 diff changeset	232	*/
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: 113 diff changeset	233
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	234	int ec_slave_fetch_sdo_list(ec_slave_t slave /< EtherCAT slave /)
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: 113 diff changeset	235	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	236	uint8_t *data;
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: 113 diff changeset	237	size_t rec_size;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	238	unsigned int i, sdo_count;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	239	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	240	uint16_t sdo_index;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	241
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	242	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	243
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	244	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	245	EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	246	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	247	EC_WRITE_U16(data + 4, 0x0000);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	248	EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	249
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	250	if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	251	EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	252	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	253	}
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: 113 diff changeset	254
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	255	do {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	256	if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	257	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: 113 diff changeset	258
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	259	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	260	(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
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: 113 diff changeset	261	EC_ERR("SDO information error response at slave %i!\n",
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: 113 diff changeset	262	slave->ring_position);
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: 113 diff changeset	263	ec_canopen_abort_msg(EC_READ_U32(data + 6));
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: 113 diff changeset	264	return -1;
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: 113 diff changeset	265	}
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: 113 diff changeset	266
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	267	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
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: 113 diff changeset	268	(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
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: 113 diff changeset	269	EC_ERR("Invalid SDO list response at slave %i!\n",
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: 113 diff changeset	270	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	271	ec_print_data(data, rec_size);
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: 113 diff changeset	272	return -1;
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: 113 diff changeset	273	}
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: 113 diff changeset	274
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: 113 diff changeset	275	if (rec_size < 8) {
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: 113 diff changeset	276	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	277	ec_print_data(data, rec_size);
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: 113 diff changeset	278	return -1;
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: 113 diff changeset	279	}
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: 113 diff changeset	280
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	281	sdo_count = (rec_size - 8) / 2;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	282	for (i = 0; i < sdo_count; i++) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	283	sdo_index = EC_READ_U16(data + 8 + i * 2);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	284	if (!sdo_index) continue; // sometimes index is 0... ???
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	285
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	286	if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	287	EC_ERR("Failed to allocate memory for SDO!\n");
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	288	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	289	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	290
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	291	// Initialize SDO object
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	292	sdo->index = sdo_index;
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	293	//sdo->unkown = 0x0000;
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	294	sdo->object_code = 0x00;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	295	sdo->name = NULL;
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	296	INIT_LIST_HEAD(&sdo->entries);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	297
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	298	list_add_tail(&sdo->list, &slave->sdo_dictionary);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	299	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	300	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	301	while (EC_READ_U8(data + 2) & 0x80);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	302
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	303	// Fetch all SDO descriptions
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	304	if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	305
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	306	return 0;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	307	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	308
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	309	/*****************************************************************************/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	310
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	311	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	312	Fetches the SDO descriptions for the known SDOs.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	313	\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	314	\ingroup Slave
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	315	*/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	316
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	317	int ec_slave_fetch_sdo_descriptions(ec_slave_t slave /< EtherCAT slave /)
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	318	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	319	uint8_t *data;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	320	size_t rec_size, name_size;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	321	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	322
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	323	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	324	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	325	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	326	EC_WRITE_U8 (data + 2, 0x03); // Get object description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	327	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	328	EC_WRITE_U16(data + 4, 0x0000);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	329	EC_WRITE_U16(data + 6, sdo->index); // SDO index
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	330
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	331	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	332
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	333	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	334	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	335	EC_ERR("SDO information error response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	336	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	337	sdo->index);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	338	ec_canopen_abort_msg(EC_READ_U32(data + 6));
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	339	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	340	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	341
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	342	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	343	(EC_READ_U8 (data + 2) & 0x7F) != 0x04 \|\| // Object desc. response
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	344	EC_READ_U16(data + 6) != sdo->index) { // SDO index
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	345	EC_ERR("Invalid object description response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	346	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	347	sdo->index);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	348	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	349	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	350	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	351
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	352	if (rec_size < 12) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	353	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	354	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	355	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	356	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	357
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	358	EC_DBG("object desc response:\n");
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	359	ec_print_data(data, rec_size);
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	360
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	361	//sdo->unknown = EC_READ_U16(data + 8);
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	362	sdo->object_code = EC_READ_U8(data + 11);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	363
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	364	name_size = rec_size - 12;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	365	if (name_size) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	366	if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	367	EC_ERR("Failed to allocate SDO name!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	368	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	369	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	370
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	371	memcpy(sdo->name, data + 12, name_size);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	372	sdo->name[name_size] = 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	373	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	374
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	375	if (EC_READ_U8(data + 2) & 0x80) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	376	EC_ERR("Fragment follows (not implemented)!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	377	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	378	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	379
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	380	// Fetch all entries (subindices)
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	381	if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	382	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	383	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	384
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	385	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	386	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	387
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	388	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	389
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	390	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	391	Fetches all entries (subindices) to an SDO.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	392	\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	393	\ingroup Slave
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	394	*/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	395
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	396	int ec_slave_fetch_sdo_entries(ec_slave_t slave, /< EtherCAT slave /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	397	ec_sdo_t sdo, /< SDO /
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	398	uint8_t subindices /*< number of subindices /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	399	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	400	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	401	uint8_t *data;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	402	size_t rec_size, data_size;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	403	uint8_t i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	404	ec_sdo_entry_t *entry;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	405
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	406	for (i = 1; i <= subindices; i++) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	407	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	408	return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	409
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	410	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	411	EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	412	EC_WRITE_U8 (data + 3, 0x00);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	413	EC_WRITE_U16(data + 4, 0x0000);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	414	EC_WRITE_U16(data + 6, sdo->index); // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	415	EC_WRITE_U8 (data + 8, i); // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	416	EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	417
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	418	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	419
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	420	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	421	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	422	EC_ERR("SDO information error response at slave %i while"
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	423	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	424	sdo->index, i);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	425	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	426	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	427	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	428
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	429	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	430	(EC_READ_U8(data + 2) & 0x7F) != 0x06 \|\| // Entry desc. response
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	431	EC_READ_U16(data + 6) != sdo->index \|\| // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	432	EC_READ_U8(data + 8) != i) { // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	433	EC_ERR("Invalid entry description response at slave %i while"
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	434	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	435	sdo->index, i);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	436	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	437	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	438	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	439
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	440	if (rec_size < 16) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	441	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	442	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	443	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	444	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	445
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	446	if (!EC_READ_U16(data + 12)) // bit length = 0
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	447	continue;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	448
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	449	data_size = rec_size - 16;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	450
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	451	if (!(entry = (ec_sdo_entry_t *)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	452	kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	453	EC_ERR("Failed to allocate entry!\n");
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	454	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	455	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	456
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	457	entry->subindex = i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	458	entry->data_type = EC_READ_U16(data + 10);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	459	entry->bit_length = EC_READ_U16(data + 12);
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	460
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	461	// memory for name string appended to entry
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	462	entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	463
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	464	memcpy(entry->name, data + 16, data_size);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	465	entry->name[data_size] = 0;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	466
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	467	list_add_tail(&entry->list, &sdo->entries);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	468	}
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: 113 diff changeset	469
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: 113 diff changeset	470	return 0;
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: 113 diff changeset	471	}
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: 113 diff changeset	472
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: 113 diff changeset	473	/*****************************************************************************/
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: 113 diff changeset	474
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: 113 diff changeset	475	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	476	Outputs an SDO abort message.
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: 113 diff changeset	477	*/
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: 113 diff changeset	478
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: 113 diff changeset	479	void ec_canopen_abort_msg(uint32_t abort_code)
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: 113 diff changeset	480	{
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	481	const ec_code_msg_t *abort_msg;
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: 113 diff changeset	482
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: 113 diff changeset	483	for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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: 113 diff changeset	484	if (abort_msg->code == abort_code) {
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: 113 diff changeset	485	EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
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: 113 diff changeset	486	abort_msg->code, abort_msg->message);
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: 113 diff changeset	487	return;
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: 113 diff changeset	488	}
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: 113 diff changeset	489	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	490
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: 113 diff changeset	491	EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
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: 113 diff changeset	492	}
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: 113 diff changeset	493
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: 113 diff changeset	494	/*****************************************************************************/
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: 113 diff changeset	495
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	496	const ec_code_msg_t sdo_abort_messages[] = {
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	497	{0x05030000, "Toggle bit not changed"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	498	{0x05040000, "SDO protocol timeout"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	499	{0x05040001, "Client/Server command specifier not valid or unknown"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	500	{0x05040005, "Out of memory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	501	{0x06010000, "Unsupported access to an object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	502	{0x06010001, "Attempt to read a write-only object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	503	{0x06010002, "Attempt to write a read-only object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	504	{0x06020000, "This object does not exist in the object directory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	505	{0x06040041, "The object cannot be mapped into the PDO"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	506	{0x06040042, "The number and length of the objects to be mapped would"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	507	" exceed the PDO length"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	508	{0x06040043, "General parameter incompatibility reason"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	509	{0x06040047, "Gerneral internal incompatibility in device"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	510	{0x06060000, "Access failure due to a hardware error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	511	{0x06070010, "Data type does not match, length of service parameter does"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	512	" not match"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	513	{0x06070012, "Data type does not match, length of service parameter too"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	514	" high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	515	{0x06070013, "Data type does not match, length of service parameter too"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	516	" low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	517	{0x06090011, "Subindex does not exist"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	518	{0x06090030, "Value range of parameter exceeded"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	519	{0x06090031, "Value of parameter written too high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	520	{0x06090032, "Value of parameter written too low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	521	{0x06090036, "Maximum value is less than minimum value"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	522	{0x08000000, "General error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	523	{0x08000020, "Data cannot be transferred or stored to the application"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	524	{0x08000021, "Data cannot be transferred or stored to the application"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	525	" because of local control"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	526	{0x08000022, "Data cannot be transferred or stored to the application"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	527	" because of the present device state"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	528	{0x08000023, "Object dictionary dynamic generation fails or no object"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	529	" dictionary is present"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	530	{}
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	531	};
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	532
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	533	/******************************************************************************
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	534	* Realtime interface
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	535	*****************************************************************************/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	536
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	537	/**
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	538	Reads an 8-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	539	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	540	\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	541	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	542	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	543
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	544	int ecrt_slave_sdo_read_exp8(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	545	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	546	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	547	uint8_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	548	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	549	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	550	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	551	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	552	*target = EC_READ_U8(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	553	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	554	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	555
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	556	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	557
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	558	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	559	Reads a 16-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	560	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	561	\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	562	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	563	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	564
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	565	int ecrt_slave_sdo_read_exp16(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	566	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	567	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	568	uint16_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	569	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	570	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	571	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	572	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	573	*target = EC_READ_U16(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	574	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	575	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	576
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	577	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	578
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	579	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	580	Reads a 32-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	581	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	582	\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	583	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	584	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	585
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	586	int ecrt_slave_sdo_read_exp32(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	587	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	588	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	589	uint32_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	590	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	591	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	592	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	593	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	594	*target = EC_READ_U32(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	595	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	596	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	597
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	598	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	599
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	600	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	601	Writes an 8-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	602	\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	603	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	604	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	605
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	606	int ecrt_slave_sdo_write_exp8(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	607	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	608	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	609	uint8_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	610	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	611	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	612	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	613	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	614
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	615	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	616
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	617	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	618	Writes a 16-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	619	\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	620	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	621	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	622
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	623	int ecrt_slave_sdo_write_exp16(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	624	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	625	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	626	uint16_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	627	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	628	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	629	uint8_t data[2];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	630	EC_WRITE_U16(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	631	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	632	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	633
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	634	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	635
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	636	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	637	Writes a 32-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	638	\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	639	\ingroup Slave
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	640	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	641
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	642	int ecrt_slave_sdo_write_exp32(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	643	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	644	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	645	uint32_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	646	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	647	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	648	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	649	EC_WRITE_U32(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	650	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	651	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	652
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	653	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	654
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	655	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	656	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	657	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	658	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	659	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	660	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	661	EXPORT_SYMBOL(ecrt_slave_sdo_read);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	662
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	663	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 21 Apr 2006 12:35:17 +0000
changeset 197	b9a6e2c22745
parent 195	674071846ee3
child 199	04ecf40fc2e9
permissions	-rw-r--r--