| author | Florian Pose <fp@igh-essen.com> |
| Fri, 11 Nov 2005 13:46:41 +0000 | |
| changeset 13 | db0742533c10 |
| parent 5 | 6f2508af550c |
| child 23 | 39364fbcd069 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/**************************************************************** |
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* |
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* e c _ s l a v e . c |
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* |
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* Methoden für einen EtherCAT-Slave. |
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* |
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* $Date$ |
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* $Author$ |
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* |
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***************************************************************/ |
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#include <linux/kernel.h> |
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#include "ec_globals.h" |
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#include "ec_slave.h" |
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#include "ec_dbg.h" |
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/***************************************************************/ |
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/** |
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EtherCAT-Slave-Konstruktor. |
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Initialisiert einen EtherCAT-Slave. |
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@param slave Zeiger auf den zu initialisierenden Slave |
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*/ |
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void EtherCAT_slave_init(EtherCAT_slave_t *slave) |
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{
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slave->type = 0; |
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slave->revision = 0; |
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slave->build = 0; |
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slave->ring_position = 0; |
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slave->station_address = 0; |
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slave->vendor_id = 0; |
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slave->product_code = 0; |
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slave->revision_number = 0; |
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5
6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
2
diff
changeset
|
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slave->serial_number = 0; |
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6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
2
diff
changeset
|
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slave->desc = 0; |
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5
6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
2
diff
changeset
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slave->logical_address0 = 0; |
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slave->current_state = ECAT_STATE_UNKNOWN; |
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slave->requested_state = ECAT_STATE_UNKNOWN; |
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} |
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/***************************************************************/ |
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/** |
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EtherCAT-Slave-Destruktor. |
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Im Moment ohne Funktionalität. |
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@param slave Zeiger auf den zu zerstörenden Slave |
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*/ |
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void EtherCAT_slave_clear(EtherCAT_slave_t *slave) |
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{
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// Nothing yet... |
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} |
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/***************************************************************/ |
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/** |
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Liest einen bestimmten Kanal des Slaves als Integer-Wert. |
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Prüft zuerst, ob der entsprechende Slave eine |
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bekannte Beschreibung besitzt, ob dort eine |
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read()-Funktion hinterlegt ist und ob die angegebene |
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Kanalnummer gültig ist. Wenn ja, wird der dekodierte |
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Wert zurückgegeben, sonst ist der Wert 0. |
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@param slave EtherCAT-Slave |
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@param channel Kanalnummer |
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@return Gelesener Wert bzw. 0 |
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*/ |
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int EtherCAT_read_value(EtherCAT_slave_t *slave, |
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unsigned int channel) |
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{
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if (!slave->desc) |
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{
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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EC_DBG(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)" |
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b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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" - Slave has no description.\n", |
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slave->station_address, (unsigned int) slave); |
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return 0; |
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} |
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if (!slave->desc->read) |
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{
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
95 |
EC_DBG(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)" |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
96 |
" - Slave type (%s %s) has no read method.\n", |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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slave->station_address, (unsigned int) slave, |
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slave->desc->vendor_name, slave->desc->product_name); |
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return 0; |
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} |
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if (channel >= slave->desc->channels) |
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{
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
104 |
EC_DBG(KERN_WARNING "EtherCAT: Reading failed on slave %4X (addr %0X)" |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
105 |
" - Type (%s %s) has no channel %i.\n", |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
106 |
slave->station_address, (unsigned int) slave, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
107 |
slave->desc->vendor_name, slave->desc->product_name, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
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channel); |
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return 0; |
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} |
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return slave->desc->read(slave->process_data, channel); |
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} |
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/***************************************************************/ |
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/** |
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Schreibt einen bestimmten Kanal des Slaves als Integer-Wert . |
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Prüft zuerst, ob der entsprechende Slave eine |
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bekannte Beschreibung besitzt, ob dort eine |
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write()-Funktion hinterlegt ist und ob die angegebene |
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Kanalnummer gültig ist. Wenn ja, wird der Wert entsprechend |
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kodiert und geschrieben. |
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@param slave EtherCAT-Slave |
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@param channel Kanalnummer |
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@param value Zu schreibender Wert |
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*/ |
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void EtherCAT_write_value(EtherCAT_slave_t *slave, |
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unsigned int channel, |
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int value) |
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{
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if (!slave->desc) |
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{
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
137 |
EC_DBG(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)" |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
138 |
" - Slave has no description.\n", |
| 0 | 139 |
slave->station_address, (unsigned int) slave); |
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return; |
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} |
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if (!slave->desc->write) |
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{
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
145 |
EC_DBG(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)" |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
146 |
" - Type (%s %s) has no write method.\n", |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
147 |
slave->station_address, (unsigned int) slave, |
| 0 | 148 |
slave->desc->vendor_name, slave->desc->product_name); |
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return; |
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} |
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if (channel >= slave->desc->channels) |
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{
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
154 |
EC_DBG(KERN_WARNING "EtherCAT: Writing failed on slave %4X (addr %0X)" |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
155 |
" - Type (%s %s) has no channel %i.\n", |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
156 |
slave->station_address, (unsigned int) slave, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
157 |
slave->desc->vendor_name, slave->desc->product_name, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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channel); |
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return; |
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} |
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slave->desc->write(slave->process_data, channel, value); |
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} |
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/***************************************************************/ |