etherlabmaster: master/slave.c@c07dd38243ba (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	3	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	31	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	32	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36	EtherCAT slave methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	41	#include <linux/module.h>
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	42	#include <linux/delay.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	43
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	44	#include "globals.h"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	45	#include "datagram.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	46	#include "master.h"
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	47	#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	48
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	49	#include "slave.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	50
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	51	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	52
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	53	extern const ec_code_msg_t al_status_messages[];
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	54
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	55	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	56
404 7f7f429e13c7 Removed clear functions from headers of kobject-classes. Florian Pose <fp@igh-essen.com> parents: 403 diff changeset	57	void ec_slave_clear(struct kobject *);
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	58	void ec_slave_sdos_clear(struct kobject *);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	59	ssize_t ec_show_slave_attribute(struct kobject , struct attribute , char *);
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	60	char ec_slave_sii_string(ec_slave_t , unsigned int);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	61
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	62	/*****************************************************************************/
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	63
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	64	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	65
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	66	EC_SYSFS_READ_ATTR(info);
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	67
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	68	static struct attribute *def_attrs[] = {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	69	&attr_info,
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	70	NULL,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	71	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	72
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	73	static struct sysfs_ops sysfs_ops = {
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	74	.show = ec_show_slave_attribute,
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	75	};
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	76
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	77	static struct kobj_type ktype_ec_slave = {
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	78	.release = ec_slave_clear,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	79	.sysfs_ops = &sysfs_ops,
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	80	.default_attrs = def_attrs
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	81	};
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	82
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	83	static struct kobj_type ktype_ec_slave_sdos = {
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	84	.release = ec_slave_sdos_clear
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	85	};
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	86
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	87	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	88
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	89	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	90
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	91	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	92	Slave constructor.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	93	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	94	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	95
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	96	int ec_slave_init(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	97	ec_master_t master, /< EtherCAT master /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	98	uint16_t ring_position, /*< ring position /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	99	uint16_t station_address /*< station address to configure /
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	100	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	101	{
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	102	unsigned int i;
e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	103
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	104	slave->ring_position = ring_position;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	105	slave->station_address = station_address;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	106
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	107	slave->master = master;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	108
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	109	slave->config = NULL;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	110	slave->requested_state = EC_SLAVE_STATE_PREOP;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	111	slave->current_state = EC_SLAVE_STATE_UNKNOWN;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	112	slave->error_flag = 0;
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	113	slave->force_config = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	114
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	115	slave->base_type = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	116	slave->base_revision = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	117	slave->base_build = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	118	slave->base_fmmu_count = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	119
977 167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	120	slave->sii_words = NULL;
167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	121	slave->sii_nwords = 0;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	122
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	123	slave->sii.alias = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	124	slave->sii.vendor_id = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	125	slave->sii.product_code = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	126	slave->sii.revision_number = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	127	slave->sii.serial_number = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	128	slave->sii.rx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	129	slave->sii.rx_mailbox_size = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	130	slave->sii.tx_mailbox_offset = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	131	slave->sii.tx_mailbox_size = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	132	slave->sii.mailbox_protocols = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	133
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	134	slave->sii.strings = NULL;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	135	slave->sii.string_count = 0;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	136
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	137	slave->sii.has_general = 0;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	138	slave->sii.group = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	139	slave->sii.image = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	140	slave->sii.order = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	141	slave->sii.name = NULL;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	142	memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836 860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	143	memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	144	slave->sii.current_on_ebus = 0;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	145
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	146	slave->sii.syncs = NULL;
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	147	slave->sii.sync_count = 0;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	148
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	149	INIT_LIST_HEAD(&slave->sii.pdos);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	150
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	151	INIT_LIST_HEAD(&slave->sdo_dictionary);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	152
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	153	slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	154	slave->jiffies_preop = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	155
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	156	for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	157	slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	158	slave->dl_loop[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	159	slave->dl_signal[i] = 0;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	160	slave->sii.physical_layer[i] = 0xFF;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	161	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	162
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	163	// init kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	164	memset(&slave->kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	165	kobject_init(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	166	slave->kobj.ktype = &ktype_ec_slave;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	167	slave->kobj.parent = &master->kobj;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	168	if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	169	EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	170	goto out_slave_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	171	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	172	if (kobject_add(&slave->kobj)) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	173	EC_ERR("Failed to add slave's kobject.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	174	goto out_slave_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	175	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	176
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	177	// init Sdo kobject and add it to the hierarchy
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	178	memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	179	kobject_init(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	180	slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	181	slave->sdo_kobj.parent = &slave->kobj;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	182	if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	183	EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	184	goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	185	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	186	if (kobject_add(&slave->sdo_kobj)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	187	EC_ERR("Failed to add Sdos kobject.\n");
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	188	goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	189	}
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	190
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	191	return 0;
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	192
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	193	out_sdo_put:
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	194	kobject_put(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	195	kobject_del(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	196	out_slave_put:
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	197	kobject_put(&slave->kobj);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	198	return -1;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	199	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	200
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	201	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	202
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	203	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	204	Slave destructor.
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	205	Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	206	*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	207
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	208	void ec_slave_destroy(ec_slave_t slave /< EtherCAT slave /)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	209	{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	210	ec_sdo_t sdo, next_sdo;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	211
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	212	if (slave->config)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	213	ec_slave_config_detach(slave->config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	214
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	215	// free all Sdos
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	216	list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	217	list_del(&sdo->list);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	218	ec_sdo_destroy(sdo);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	219	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	220
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	221	// free Sdo kobject
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 482 diff changeset	222	kobject_del(&slave->sdo_kobj);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	223	kobject_put(&slave->sdo_kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	224
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	225	// destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	226	kobject_del(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	227	kobject_put(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	228	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	229
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	230	/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	231
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	232	/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	233	Clear and free slave.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	234	This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	235	once there are no more references to it.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	236	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	237
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	238	void ec_slave_clear(struct kobject kobj /< kobject of the slave /)
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	239	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	240	ec_slave_t *slave;
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	241	ec_pdo_t pdo, next_pdo;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	242	unsigned int i;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	243
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	244	slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	245
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	246	// free all strings
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	247	if (slave->sii.strings) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	248	for (i = 0; i < slave->sii.string_count; i++)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	249	kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	250	kfree(slave->sii.strings);
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	251	}
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	252
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	253	// free all sync managers
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	254	ec_slave_clear_sync_managers(slave);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	255
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	256	// free all SII Pdos
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	257	list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	258	list_del(&pdo->list);
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	259	ec_pdo_clear(pdo);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	260	kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	261	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	262
977 167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	263	if (slave->sii_words)
167ae3e76cc7 Moved sii to words. Florian Pose <fp@igh-essen.com> parents: 967 diff changeset	264	kfree(slave->sii_words);
418 7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 416 diff changeset	265
7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 416 diff changeset	266	kfree(slave);
121 1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	267	}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	268
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	269	/*****************************************************************************/
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	270
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	271	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	272	* Sdo kobject clear method.
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	273	*/
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	274
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	275	void ec_slave_sdos_clear(struct kobject kobj /< kobject for Sdos /)
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	276	{
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	277	}
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	278
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	279	/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	280
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	281	/** Clear the sync manager array.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	282	*/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	283	void ec_slave_clear_sync_managers(ec_slave_t slave /< EtherCAT slave. /)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	284	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	285	unsigned int i;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	286
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	287	if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	288	for (i = 0; i < slave->sii.sync_count; i++) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	289	ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	290	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	291	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	292	slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	293	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	294	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	295
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	296	/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	297
482 fbaaaf2a6234 Added clear function for SDO kobject. Florian Pose <fp@igh-essen.com> parents: 467 diff changeset	298	/**
610 29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	299	* Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	300	*/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	301
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	302	void ec_slave_set_state(ec_slave_t slave, /< EtherCAT slave /
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	303	ec_slave_state_t new_state /*< new application state /
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	304	)
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	305	{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	306	if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	307	if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	308	char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	309	cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	310	ec_state_string(slave->current_state, old_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	311	ec_state_string(new_state, cur_state);
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	312	EC_DBG("Slave %u: %s -> %s.\n",
610 29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	313	slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	314	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	315	slave->current_state = new_state;
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	316	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	317	}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	318
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	319	/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	320
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed Florian Pose <fp@igh-essen.com> parents: 609 diff changeset	321	/**
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	322	* Request a slave state and resets the error flag.
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	323	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	324
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	325	void ec_slave_request_state(ec_slave_t slave, /< EtherCAT slave /
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	326	ec_slave_state_t state /*< new state /
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	327	)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	328	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	329	slave->requested_state = state;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	330	slave->error_flag = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	331	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	332
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	333	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	334
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 423 diff changeset	335	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	336	Fetches data from a STRING category.
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	337	\todo range checking
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	338	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	339	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	340
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	341	int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	342	ec_slave_t slave, /< EtherCAT slave /
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	343	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	344	size_t data_size /*< number of bytes /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	345	)
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	346	{
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	347	int i;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	348	size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	349	off_t offset;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	350
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	351	slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	352
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	353	if (!slave->sii.string_count)
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	354	return 0;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	355
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	356	if (!(slave->sii.strings =
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	357	kmalloc(sizeof(char ) slave->sii.string_count,
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	358	GFP_KERNEL))) {
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	359	EC_ERR("Failed to allocate string array memory.\n");
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	360	goto out_zero;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	361	}
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	362
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	363	offset = 1;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	364	for (i = 0; i < slave->sii.string_count; i++) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	365	size = data[offset];
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	366	// allocate memory for string structure and data at a single blow
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	367	if (!(slave->sii.strings[i] =
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	368	kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	369	EC_ERR("Failed to allocate string memory.\n");
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	370	goto out_free;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	371	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	372	memcpy(slave->sii.strings[i], data + offset + 1, size);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	373	slave->sii.strings[i][size] = 0x00; // append binary zero
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	374	offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	375	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	376
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	377	return 0;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	378
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	379	out_free:
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	380	for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	381	kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	382	slave->sii.strings = NULL;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	383	out_zero:
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	384	slave->sii.string_count = 0;
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	385	return -1;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	386	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	387
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	388	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	389
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	390	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	391	Fetches data from a GENERAL category.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	392	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	393	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	394
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	395	int ec_slave_fetch_sii_general(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	396	ec_slave_t slave, /< EtherCAT slave /
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	397	const uint8_t data, /< category data /
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	398	size_t data_size /*< size in bytes /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	399	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	400	{
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	401	unsigned int i;
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	402	uint8_t flags;
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	403
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	404	if (data_size != 32) {
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	405	EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	406	data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	407	return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	408	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	409
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	410	slave->sii.group = ec_slave_sii_string(slave, data[0]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	411	slave->sii.image = ec_slave_sii_string(slave, data[1]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	412	slave->sii.order = ec_slave_sii_string(slave, data[2]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	413	slave->sii.name = ec_slave_sii_string(slave, data[3]);
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	414
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	415	for (i = 0; i < 4; i++)
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	416	slave->sii.physical_layer[i] =
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	417	(data[4] & (0x03 << (i * 2))) >> (i * 2);
499 fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	418
876 8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	419	// read CoE details
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	420	flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	421	slave->sii.coe_details.enable_sdo = (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	422	slave->sii.coe_details.enable_sdo_info = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	423	slave->sii.coe_details.enable_pdo_assign = (flags >> 2) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	424	slave->sii.coe_details.enable_pdo_configuration = (flags >> 3) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	425	slave->sii.coe_details.enable_upload_at_startup = (flags >> 4) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	426	slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	427
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	428	// read general flags
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	429	flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	430	slave->sii.general_flags.enable_safeop = (flags >> 0) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	431	slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
8acdecb5a75e Fixed general flags on big-endian archs. Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	432
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	433	slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	434	slave->sii.has_general = 1;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	435	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	436	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	437
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	438	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	439
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	440	/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	441	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	442	* Appends the sync managers described in the category to the existing ones.
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	443	*
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	444	* \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	445	*/
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	446	int ec_slave_fetch_sii_syncs(
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	447	ec_slave_t slave, /< EtherCAT slave. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	448	const uint8_t data, /< Category data. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	449	size_t data_size /*< Number of bytes. /
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	450	)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	451	{
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	452	unsigned int i, count, total_count;
626 a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t. Florian Pose <fp@igh-essen.com> parents: 625 diff changeset	453	ec_sync_t *sync;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	454	size_t memsize;
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	455	ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	456	uint8_t index;
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	457
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	458	// one sync manager struct is 4 words long
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	459	if (data_size % 8) {
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	460	EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	461	data_size, slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	462	return -1;
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	463	}
03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	464
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	465	count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	466
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	467	if (count) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	468	total_count = count + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	469	memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	470	if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	471	EC_ERR("Failed to allocate %u bytes for sync managers.\n",
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	472	memsize);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	473	return -1;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	474	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	475
873 ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	476	for (i = 0; i < slave->sii.sync_count; i++)
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	477	ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
870 fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	478
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	479	// initialize new sync managers
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	480	for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	481	index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	482	sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	483
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	484	ec_sync_init(sync, slave, index);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	485	sync->physical_start_address = EC_READ_U16(data);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	486	sync->length = EC_READ_U16(data + 2);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	487	sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	488	sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	489	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	490
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	491	if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	492	kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	493	slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	494	slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	495	}
fbd5924690ee Allow multiple sync manager categories. Florian Pose <fp@igh-essen.com> parents: 865 diff changeset	496
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	497	return 0;
118 dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	498	}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	499
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	500	/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	501
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	502	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	503	Fetches data from a [RT]XPdo category.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	504	\return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	505	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	506
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	507	int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	508	ec_slave_t slave, /< EtherCAT slave /
4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	509	const uint8_t data, /< category data /
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	510	size_t data_size, /*< number of bytes /
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	511	ec_direction_t dir /*< Pdo direction. /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	512	)
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	513	{
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	514	ec_pdo_t *pdo;
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	515	ec_pdo_entry_t *entry;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	516	unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	517
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	518	while (data_size >= 8) {
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	519	if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	520	EC_ERR("Failed to allocate Pdo memory.\n");
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	521	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	522	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	523
627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: 626 diff changeset	524	ec_pdo_init(pdo);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	525	pdo->dir = dir;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	526	pdo->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	527	entry_count = EC_READ_U8(data + 2);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	528	pdo->sync_index = EC_READ_U8(data + 3);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	529	if (ec_pdo_set_name(pdo,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	530	ec_slave_sii_string(slave, EC_READ_U8(data + 5)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	531	ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	532	kfree(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	533	return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	534	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	535	list_add_tail(&pdo->list, &slave->sii.pdos);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	536
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	537	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	538	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	539
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	540	for (i = 0; i < entry_count; i++) {
625 ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and Florian Pose <fp@igh-essen.com> parents: 624 diff changeset	541	if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	542	EC_ERR("Failed to allocate Pdo entry memory.\n");
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	543	return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	544	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	545
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	546	ec_pdo_entry_init(entry);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	547	entry->index = EC_READ_U16(data);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	548	entry->subindex = EC_READ_U8(data + 2);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	549	if (ec_pdo_entry_set_name(entry,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	550	ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	551	ec_pdo_entry_clear(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	552	kfree(entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	553	return -1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	554	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	555	entry->bit_length = EC_READ_U8(data + 5);
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	556	list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	557
742 03d2fe3d4a93 Improved checking of EEPROM data while reading. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	558	data_size -= 8;
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	559	data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	560	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	561
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	562	// if sync manager index is positive, the Pdo is mapped by default
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	563	if (pdo->sync_index >= 0) {
762 15214036c72a Store PDO mapping source in sync manager. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	564	ec_sync_t *sync;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	565
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	566	if (pdo->sync_index >= slave->sii.sync_count) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	567	EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	568	pdo->sync_index, pdo->index, slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	569	return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	570	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	571	sync = &slave->sii.syncs[pdo->sync_index];
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	572
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	573	if (ec_pdo_list_add_pdo_copy(&sync->pdos, pdo))
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	574	return -1;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	575
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	576	sync->assign_source = EC_ASSIGN_SII;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	577	}
126 bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	578	}
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	579
bbc963b9fead Restliche EEPROM-Daten ausgelesen. Florian Pose <fp@igh-essen.com> parents: 124 diff changeset	580	return 0;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	581	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	582
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	583	/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	584
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	585	/**
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	586	Searches the string list for an index.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	587	\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	588	*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	589
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	590	char *ec_slave_sii_string(
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	591	ec_slave_t slave, /< EtherCAT slave /
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	592	unsigned int index /*< string index /
620 4f76acbf54a0 Renamed SII fetching functions (non-functional). Florian Pose <fp@igh-essen.com> parents: 619 diff changeset	593	)
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	594	{
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	595	if (!index--)
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	596	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	597
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	598	if (index >= slave->sii.string_count) {
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	599	if (slave->master->debug_level)
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	600	EC_WARN("String %u not found in slave %u.\n",
624 11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	601	index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	602	return NULL;
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	603	}
11332ad89f47 Simplified handling of EEPROM strings. Florian Pose <fp@igh-essen.com> parents: 620 diff changeset	604
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	605	return slave->sii.strings[index];
123 4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	606	}
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	607
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	608	/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten. Florian Pose <fp@igh-essen.com> parents: 122 diff changeset	609
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	610	/** Outputs all information about a certain slave.
630 1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	611	*/
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	612	ssize_t ec_slave_info(const ec_slave_t slave, /< EtherCAT slave /
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	613	char buffer /< Output buffer /
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	614	)
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	615	{
871 5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	616	const ec_sync_t *sync;
5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	617	const ec_pdo_t *pdo;
5a8959f77854 Added some const's. Florian Pose <fp@igh-essen.com> parents: 870 diff changeset	618	const ec_pdo_entry_t *pdo_entry;
142 e933f1adb550 Link Status ausgelesen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	619	int first, i;
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	620	char large_buffer, buf;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	621	unsigned int size;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	622
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	623	if (!(large_buffer = (char ) kmalloc(PAGE_SIZE 2, GFP_KERNEL))) {
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	624	return -ENOMEM;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	625	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	626
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	627	buf = large_buffer;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	628
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	629	buf += sprintf(buf, "Ring position: %u\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	630	slave->ring_position);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	631	buf += sprintf(buf, "State: ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	632	buf += ec_state_string(slave->current_state, buf);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	633	buf += sprintf(buf, " (");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	634	buf += ec_state_string(slave->requested_state, buf);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	635	buf += sprintf(buf, ")\n");
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	636	buf += sprintf(buf, "Flags: %s\n\n", slave->error_flag ? "ERROR" : "ok");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	637
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	638	buf += sprintf(buf, "Data link status:\n");
183 8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	639	for (i = 0; i < 4; i++) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	640	buf += sprintf(buf, " Port %u: Phy %u (",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	641	i, slave->sii.physical_layer[i]);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	642	switch (slave->sii.physical_layer[i]) {
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	643	case 0x00:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	644	buf += sprintf(buf, "EBUS");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	645	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	646	case 0x01:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	647	buf += sprintf(buf, "100BASE-TX");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	648	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	649	case 0x02:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	650	buf += sprintf(buf, "100BASE-FX");
190 4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	651	break;
4e32bcc6b361 Now fetching port physical layer from EEPROM Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	652	default:
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	653	buf += sprintf(buf, "unknown");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	654	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	655	buf += sprintf(buf, "), Link %s, Loop %s, %s\n",
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	656	slave->dl_link[i] ? "up" : "down",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	657	slave->dl_loop[i] ? "closed" : "open",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	658	slave->dl_signal[i] ? "Signal detected" : "No signal");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	659	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	660	buf += sprintf(buf, "\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	661
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	662	if (slave->sii.alias)
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	663	buf += sprintf(buf, "Configured station alias:"
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	664	" 0x%04X (%u)\n\n", slave->sii.alias, slave->sii.alias);
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	665
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	666	buf += sprintf(buf, "Identity:\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	667	buf += sprintf(buf, " Vendor ID: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	668	slave->sii.vendor_id, slave->sii.vendor_id);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	669	buf += sprintf(buf, " Product code: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	670	slave->sii.product_code, slave->sii.product_code);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	671	buf += sprintf(buf, " Revision number: 0x%08X (%u)\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	672	slave->sii.revision_number, slave->sii.revision_number);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	673	buf += sprintf(buf, " Serial number: 0x%08X (%u)\n\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	674	slave->sii.serial_number, slave->sii.serial_number);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	675
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	676	if (slave->sii.mailbox_protocols) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	677	buf += sprintf(buf, "Mailboxes:\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	678	buf += sprintf(buf, " RX: 0x%04X/%u, TX: 0x%04X/%u\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	679	slave->sii.rx_mailbox_offset, slave->sii.rx_mailbox_size,
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	680	slave->sii.tx_mailbox_offset, slave->sii.tx_mailbox_size);
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	681	buf += sprintf(buf, " Supported protocols: ");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	682
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	683	first = 1;
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	684	if (slave->sii.mailbox_protocols & EC_MBOX_AOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	685	buf += sprintf(buf, "AoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	686	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	687	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	688	if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	689	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	690	buf += sprintf(buf, "EoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	691	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	692	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	693	if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	694	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	695	buf += sprintf(buf, "CoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	696	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	697	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	698	if (slave->sii.mailbox_protocols & EC_MBOX_FOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	699	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	700	buf += sprintf(buf, "FoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	701	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	702	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	703	if (slave->sii.mailbox_protocols & EC_MBOX_SOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	704	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	705	buf += sprintf(buf, "SoE");
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	706	first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	707	}
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	708	if (slave->sii.mailbox_protocols & EC_MBOX_VOE) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	709	if (!first) buf += sprintf(buf, ", ");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	710	buf += sprintf(buf, "VoE");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	711	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	712	buf += sprintf(buf, "\n\n");
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	713	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	714
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	715	if (slave->sii.has_general) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	716	buf += sprintf(buf, "General:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	717
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	718	if (slave->sii.group)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	719	buf += sprintf(buf, " Group: %s\n", slave->sii.group);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	720	if (slave->sii.image)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	721	buf += sprintf(buf, " Image: %s\n", slave->sii.image);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	722	if (slave->sii.order)
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	723	buf += sprintf(buf, " Order number: %s\n",
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	724	slave->sii.order);
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	725	if (slave->sii.name)
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	726	buf += sprintf(buf, " Name: %s\n", slave->sii.name);
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	727	if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	728	buf += sprintf(buf, " CoE details:\n");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	729	buf += sprintf(buf, " Enable Sdo: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	730	slave->sii.coe_details.enable_sdo ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	731	buf += sprintf(buf, " Enable Sdo Info: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	732	slave->sii.coe_details.enable_sdo_info ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	733	buf += sprintf(buf, " Enable Pdo Assign: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	734	slave->sii.coe_details.enable_pdo_assign ? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	735	buf += sprintf(buf, " Enable Pdo Configuration: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	736	slave->sii.coe_details.enable_pdo_configuration ?
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	737	"yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	738	buf += sprintf(buf, " Enable Upload at startup: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	739	slave->sii.coe_details.enable_upload_at_startup ?
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	740	"yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	741	buf += sprintf(buf, " Enable Sdo complete access: %s\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	742	slave->sii.coe_details.enable_sdo_complete_access
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	743	? "yes" : "no");
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	744	}
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	745
836 860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	746	buf += sprintf(buf, " Flags:\n");
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	747	buf += sprintf(buf, " Enable SafeOp: %s\n",
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	748	slave->sii.general_flags.enable_safeop ? "yes" : "no");
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	749	buf += sprintf(buf, " Enable notLRW: %s\n",
860a5bacea6a Display notLRW flag. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	750	slave->sii.general_flags.enable_not_lrw ? "yes" : "no");
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	751	buf += sprintf(buf, " Current consumption: %i mA\n\n",
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	752	slave->sii.current_on_ebus);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	753	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	754
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	755	if (slave->sii.sync_count) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	756	buf += sprintf(buf, "Sync managers / assigned Pdos:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	757
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	758	for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	759	sync = &slave->sii.syncs[i];
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	760	buf += sprintf(buf,
784 0a0994fdafb8 Esthetic surgery for slave. Florian Pose <fp@igh-essen.com> parents: 772 diff changeset	761	" SM%u: addr 0x%04X, size %u, control 0x%02X, %s\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	762	sync->index, sync->physical_start_address,
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	763	sync->length, sync->control_register,
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	764	sync->enable ? "enable" : "disable");
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	765
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	766	if (list_empty(&sync->pdos.list)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	767	buf += sprintf(buf, " No Pdos assigned.\n");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	768	} else if (sync->assign_source != EC_ASSIGN_NONE) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	769	buf += sprintf(buf, " Pdo assignment from ");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	770	switch (sync->assign_source) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	771	case EC_ASSIGN_SII:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	772	buf += sprintf(buf, "SII");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	773	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	774	case EC_ASSIGN_COE:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	775	buf += sprintf(buf, "CoE");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	776	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	777	case EC_ASSIGN_CUSTOM:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	778	buf += sprintf(buf, "application");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	779	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	780	default:
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	781	buf += sprintf(buf, "?");
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	782	break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	783	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	784	buf += sprintf(buf, ".\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	785	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	786
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	787	list_for_each_entry(pdo, &sync->pdos.list, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	788	buf += sprintf(buf, " %s 0x%04X \"%s\"\n",
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	789	pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	790	pdo->index, pdo->name ? pdo->name : "???");
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	791
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	792	list_for_each_entry(pdo_entry, &pdo->entries, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	793	buf += sprintf(buf,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	794	" 0x%04X:%02X, %u bit, \"%s\"\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	795	pdo_entry->index, pdo_entry->subindex,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	796	pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	797	pdo_entry->name ? pdo_entry->name : "???");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	798	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	799	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	800	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	801	buf += sprintf(buf, "\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	802	}
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	803
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	804	// type-cast to avoid warnings on some compilers
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	805	if (!list_empty((struct list_head *) &slave->sii.pdos)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	806	buf += sprintf(buf, "Available Pdos from SII:\n");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	807
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	808	list_for_each_entry(pdo, &slave->sii.pdos, list) {
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	809	buf += sprintf(buf, " %s 0x%04X \"%s\"",
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	810	pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	811	pdo->index, pdo->name ? pdo->name : "???");
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	812	if (pdo->sync_index >= 0)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	813	buf += sprintf(buf, ", default assignment: SM%u.\n",
763 5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	814	pdo->sync_index);
5e238783b71a Re-ordered slave info file. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	815	else
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	816	buf += sprintf(buf, ", no default assignment.\n");
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	817
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	818	list_for_each_entry(pdo_entry, &pdo->entries, list) {
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	819	buf += sprintf(buf, " 0x%04X:%02X, %u bit, \"%s\"\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	820	pdo_entry->index, pdo_entry->subindex,
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	821	pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 912 diff changeset	822	pdo_entry->name ? pdo_entry->name : "???");
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	823	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	824	}
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	825	buf += sprintf(buf, "\n");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	826	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	827
772 6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	828	size = buf - large_buffer;
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	829	if (size >= PAGE_SIZE) {
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	830	const char trunc[] = "\n---TRUNCATED---\n";
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	831	unsigned int len = strlen(trunc);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	832	memcpy(large_buffer + PAGE_SIZE - len, trunc, len);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	833	}
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	834
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	835	size = min(size, (unsigned int) PAGE_SIZE);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	836	memcpy(buffer, large_buffer, size);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	837	kfree(large_buffer);
6c29e74d6763 Detection of page exceeding slave information file. Florian Pose <fp@igh-essen.com> parents: 765 diff changeset	838	return size;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	839	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	840
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	841	/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	842
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 132 diff changeset	843	/**
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	844	* Writes SII contents to a slave.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	845	* \return Zero on success, otherwise error code.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	846	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	847
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	848	int ec_slave_write_sii(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	849	ec_slave_t slave, /< EtherCAT slave /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	850	uint16_t offset, /*< SII word offset. /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	851	unsigned int nwords, /*< Number of words. /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	852	const uint16_t words /< New SII data. /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	853	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	854	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	855	ec_master_t *master = slave->master;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	856	ec_sii_write_request_t request;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	857
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 871 diff changeset	858	// init SII write request
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	859	INIT_LIST_HEAD(&request.list);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 599 diff changeset	860	request.slave = slave;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	861	request.words = words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	862	request.offset = offset;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	863	request.nwords = nwords;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	864	request.state = EC_REQUEST_QUEUED;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	865
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	866	// schedule SII write request.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	867	down(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	868	list_add_tail(&request.list, &master->sii_requests);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	869	up(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	870
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	871	// wait for processing through FSM
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	872	if (wait_event_interruptible(master->sii_queue,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	873	request.state != EC_REQUEST_QUEUED)) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	874	// interrupted by signal
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	875	down(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	876	if (request.state == EC_REQUEST_QUEUED) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	877	list_del(&request.list);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	878	up(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	879	return -EINTR;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	880	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	881	// request already processing: interrupt not possible.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	882	up(&master->sii_sem);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	883	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	884
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	885	// wait until master FSM has finished processing
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	886	wait_event(master->sii_queue,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	887	request.state != EC_REQUEST_BUSY);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	888
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	889	if (request.state == EC_REQUEST_SUCCESS) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	890	if (offset <= 4 && offset + nwords > 4) { // alias was written
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	891	slave->sii.alias = EC_READ_U16(words + 4);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	892	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	893	return 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	894	} else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	895	return -EIO;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	896	}
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	897	}
7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	898
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	899	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	900
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	901	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	902	Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	903	\return number of bytes to read
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	904	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	905
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	906	ssize_t ec_show_slave_attribute(struct kobject kobj, /< slave's kobject /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	907	struct attribute attr, /< attribute /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 190 diff changeset	908	char buffer /< memory to store data /
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	909	)
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	910	{
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	911	ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	912
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	913	if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 320 diff changeset	914	return ec_slave_info(slave, buffer);
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 606 diff changeset	915	}
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	916
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	917	return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	918	}
8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	919
256 dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	920	/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	921
912 6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	922	/** Get the sync manager for either Rx- or Tx-Pdos.
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	923	*
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	924	* \todo This seems not to be correct in every case...
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 754 diff changeset	925	* \return pointer to sync manager, or NULL.
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	926	*/
626 a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t. Florian Pose <fp@igh-essen.com> parents: 625 diff changeset	927	ec_sync_t *ec_slave_get_pdo_sync(
912 6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	928	ec_slave_t slave, /< EtherCAT slave. /
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	929	ec_direction_t dir /*< Input or output. /
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	930	)
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	931	{
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	932	unsigned int sync_index;
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	933
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	934	if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	935	EC_ERR("Invalid direction!\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	936	return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	937	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 632 diff changeset	938
912 6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	939	if (slave->sii.sync_count != 1) {
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	940	sync_index = (unsigned int) dir;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	941	if (slave->sii.mailbox_protocols) sync_index += 2;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	942
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	943	if (sync_index >= slave->sii.sync_count)
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	944	return NULL;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	945	} else { // sync_count == 1
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	946	// A single sync manager may be used for inputs OR outputs!
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	947	if (ec_sync_direction(&slave->sii.syncs[0]) != dir)
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	948	return NULL;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	949	sync_index = 0;
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	950	}
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	951
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	952	return &slave->sii.syncs[sync_index];
619 15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	953	}
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	954
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	955	/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	956
15becb1879fd Introduced ec_slave_get_pdo_sync(). Florian Pose <fp@igh-essen.com> parents: 618 diff changeset	957	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	958	Counts the total number of Sdos and entries in the dictionary.
423 862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	959	*/
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	960
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	961	void ec_slave_sdo_dict_info(const ec_slave_t slave, /< EtherCAT slave /
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	962	unsigned int sdo_count, /< number of Sdos /
423 862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	963	unsigned int entry_count /*< total number of
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	964	entries */
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	965	)
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	966	{
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	967	unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	968	ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	969	ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	970
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	971	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	972	sdos++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	973	list_for_each_entry(entry, &sdo->entries, list) {
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	974	entries++;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	975	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	976	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	977
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	978	*sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	979	*entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	980	}
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 421 diff changeset	981
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	982	/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	983
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	984	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	985	* Get an Sdo from the dictionary.
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	986	* \returns The desired Sdo, or NULL.
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	987	*/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	988
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	989	ec_sdo_t *ec_slave_get_sdo(
964 957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	990	ec_slave_t slave, /< EtherCAT slave /
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	991	uint16_t index /*< Sdo index /
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	992	)
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	993	{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	994	ec_sdo_t *sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	995
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	996	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
967 93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	997	if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	998	continue;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	999	return sdo;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1000	}
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1001
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1002	return NULL;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1003	}
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1004
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1005	/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1006
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1007	/**
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1008	* Get an Sdo from the dictionary.
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1009	*
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1010	* const version.
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1011	*
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1012	* \returns The desired Sdo, or NULL.
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1013	*/
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1014
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1015	const ec_sdo_t *ec_slave_get_sdo_const(
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1016	const ec_slave_t slave, /< EtherCAT slave /
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1017	uint16_t index /*< Sdo index /
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1018	)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1019	{
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1020	const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1021
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1022	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1023	if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const(). Florian Pose <fp@igh-essen.com> parents: 964 diff changeset	1024	continue;
740 68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1025	return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1026	}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1027
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1028	return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1029	}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry(). Florian Pose <fp@igh-essen.com> parents: 735 diff changeset	1030
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 784 diff changeset	1031	/*****************************************************************************/
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1032
964 957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1033	/** Get an Sdo from the dictionary, given its position in the list.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1034	* \returns The desired Sdo, or NULL.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1035	*/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1036
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1037	const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1038	const ec_slave_t slave, /< EtherCAT slave. /
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1039	uint16_t sdo_position /*< Sdo list position. /
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1040	)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1041	{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1042	const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1043
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1044	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1045	if (sdo_position--)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1046	continue;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1047	return sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1048	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1049
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1050	return NULL;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1051	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1052
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1053	/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1054
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1055	/** Get the number of Sdos in the dictionary.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1056	* \returns Sdo count.
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1057	*/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1058
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1059	uint16_t ec_slave_sdo_count(
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1060	const ec_slave_t slave /< EtherCAT slave. /
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1061	)
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1062	{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1063	const ec_sdo_t *sdo;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1064	uint16_t count = 0;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1065
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1066	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1067	count++;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1068	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1069
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1070	return count;
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1071	}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1072
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1073	/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count(). Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1074
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1075	/** Finds a mapped Pdo.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1076	* \returns The desired Pdo object, or NULL.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1077	*/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1078	const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1079	const ec_slave_t slave, /< Slave. /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1080	uint16_t index /*< Pdo index to find. /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1081	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1082	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1083	unsigned int i;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1084	const ec_sync_t *sync;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1085	const ec_pdo_t *pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1086
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1087	for (i = 0; i < slave->sii.sync_count; i++) {
0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1088	sync = &slave->sii.syncs[i];
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1089
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 876 diff changeset	1090	if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1091	continue;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1092
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1093	return pdo;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1094	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1095
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1096	return NULL;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1097	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1098
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	1099	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 10 Jun 2008 08:48:50 +0000
changeset 980	c07dd38243ba
parent 979	405cc2d033e0
child 992	50a44cbd30af
permissions	-rw-r--r--