master/slave.c
author Florian Pose <fp@gh.de>
Fri, 03 Mar 2017 13:55:01 +0100
branchstable-1.5
changeset 2668 dd32f74ee76e
parent 2522 ec403cf308eb
permissions -rw-r--r--
Merged CRC command.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "slave_config.h"
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#include "slave.h"
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/*****************************************************************************/
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extern const ec_code_msg_t al_status_messages[];
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/*****************************************************************************/
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char *ec_slave_sii_string(ec_slave_t *, unsigned int);
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/*****************************************************************************/
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/**
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   Slave constructor.
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   \return 0 in case of success, else < 0
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*/
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void ec_slave_init(
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        ec_slave_t *slave, /**< EtherCAT slave */
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        ec_master_t *master, /**< EtherCAT master */
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        ec_device_index_t dev_idx, /**< Device index. */
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        uint16_t ring_position, /**< ring position */
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        uint16_t station_address /**< station address to configure */
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        )
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{
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    unsigned int i;
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    slave->master = master;
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    slave->device_index = dev_idx;
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    slave->ring_position = ring_position;
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    slave->station_address = station_address;
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    slave->effective_alias = 0x0000;
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    slave->config = NULL;
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    slave->requested_state = EC_SLAVE_STATE_PREOP;
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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
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    slave->error_flag = 0;
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    slave->force_config = 0;
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    slave->configured_rx_mailbox_offset = 0x0000;
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    slave->configured_rx_mailbox_size = 0x0000;
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    slave->configured_tx_mailbox_offset = 0x0000;
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    slave->configured_tx_mailbox_size = 0x0000;
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    slave->base_type = 0;
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    slave->base_revision = 0;
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    slave->base_build = 0;
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    slave->base_fmmu_count = 0;
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    slave->base_sync_count = 0;
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    for (i = 0; i < EC_MAX_PORTS; i++) {
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        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;
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        slave->ports[i].link.link_up = 0;
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        slave->ports[i].link.loop_closed = 0;
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        slave->ports[i].link.signal_detected = 0;
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        slave->sii.physical_layer[i] = 0xFF;
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        slave->ports[i].receive_time = 0U;
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        slave->ports[i].next_slave = NULL;
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        slave->ports[i].delay_to_next_dc = 0U;
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    }
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    slave->base_fmmu_bit_operation = 0;
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    slave->base_dc_supported = 0;
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    slave->base_dc_range = EC_DC_32;
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    slave->has_dc_system_time = 0;
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    slave->transmission_delay = 0U;
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    slave->sii_words = NULL;
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    slave->sii_nwords = 0;
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    slave->sii.alias = 0x0000;
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    slave->sii.vendor_id = 0x00000000;
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    slave->sii.product_code = 0x00000000;
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    slave->sii.revision_number = 0x00000000;
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    slave->sii.serial_number = 0x00000000;
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    slave->sii.boot_rx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   123
    slave->sii.boot_rx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   124
    slave->sii.boot_tx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   125
    slave->sii.boot_tx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   126
    slave->sii.std_rx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1327
diff changeset
   127
    slave->sii.std_rx_mailbox_size = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   128
    slave->sii.std_tx_mailbox_offset = 0x0000;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   129
    slave->sii.std_tx_mailbox_size = 0x0000;
834
0791aac03180 Separated SII data from slave.
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diff changeset
   130
    slave->sii.mailbox_protocols = 0;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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diff changeset
   131
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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diff changeset
   132
    slave->sii.strings = NULL;
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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diff changeset
   133
    slave->sii.string_count = 0;
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   134
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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diff changeset
   135
    slave->sii.has_general = 0;
834
0791aac03180 Separated SII data from slave.
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diff changeset
   136
    slave->sii.group = NULL;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   137
    slave->sii.image = NULL;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   138
    slave->sii.order = NULL;
0791aac03180 Separated SII data from slave.
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diff changeset
   139
    slave->sii.name = NULL;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   140
    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
836
860a5bacea6a Display notLRW flag.
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parents: 835
diff changeset
   141
    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
834
0791aac03180 Separated SII data from slave.
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diff changeset
   142
    slave->sii.current_on_ebus = 0;
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   143
0791aac03180 Separated SII data from slave.
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diff changeset
   144
    slave->sii.syncs = NULL;
0791aac03180 Separated SII data from slave.
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diff changeset
   145
    slave->sii.sync_count = 0;
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   146
834
0791aac03180 Separated SII data from slave.
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diff changeset
   147
    INIT_LIST_HEAD(&slave->sii.pdos);
835
23fd8b510803 Evaluate CoE details from general category; moved current consumption
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parents: 834
diff changeset
   148
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   149
    INIT_LIST_HEAD(&slave->sdo_dictionary);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   150
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   151
    slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
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diff changeset
   152
    slave->jiffies_preop = 0;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   153
2460
611e4d745dcd Minor: Renamed slave_sdo_requests.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   154
    INIT_LIST_HEAD(&slave->sdo_requests);
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   155
    INIT_LIST_HEAD(&slave->reg_requests);
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   156
    INIT_LIST_HEAD(&slave->foe_requests);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   157
    INIT_LIST_HEAD(&slave->soe_requests);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1606
diff changeset
   158
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   159
    // create state machine object
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   160
    ec_fsm_slave_init(&slave->fsm, slave);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   161
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 55
diff changeset
   162
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 55
diff changeset
   163
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 55
diff changeset
   164
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 55
diff changeset
   165
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   166
   Slave destructor.
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   167
   Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   168
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   169
992
50a44cbd30af Removed kobjects from sdo and slave.
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parents: 980
diff changeset
   170
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   171
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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diff changeset
   172
    ec_sdo_t *sdo, *next_sdo;
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   173
    unsigned int i;
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   174
    ec_pdo_t *pdo, *next_pdo;
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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parents: 446
diff changeset
   175
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   176
    // abort all pending requests
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   177
2460
611e4d745dcd Minor: Renamed slave_sdo_requests.
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parents: 2443
diff changeset
   178
    while (!list_empty(&slave->sdo_requests)) {
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
   179
        ec_sdo_request_t *request =
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
   180
            list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   181
        list_del_init(&request->list); // dequeue
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   182
        EC_SLAVE_WARN(slave, "Discarding SDO request,"
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   183
                " slave about to be deleted.\n");
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
   184
        request->state = EC_INT_REQUEST_FAILURE;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   185
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   186
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   187
    while (!list_empty(&slave->reg_requests)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   188
        ec_reg_request_t *reg =
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   189
            list_entry(slave->reg_requests.next, ec_reg_request_t, list);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   190
        list_del_init(&reg->list); // dequeue
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   191
        EC_SLAVE_WARN(slave, "Discarding register request,"
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   192
                " slave about to be deleted.\n");
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   193
        reg->state = EC_INT_REQUEST_FAILURE;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   194
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   195
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   196
    while (!list_empty(&slave->foe_requests)) {
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
   197
        ec_foe_request_t *request =
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
   198
            list_entry(slave->foe_requests.next, ec_foe_request_t, list);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   199
        list_del_init(&request->list); // dequeue
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   200
        EC_SLAVE_WARN(slave, "Discarding FoE request,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   201
                " slave about to be deleted.\n");
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
   202
        request->state = EC_INT_REQUEST_FAILURE;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   203
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   204
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   205
    while (!list_empty(&slave->soe_requests)) {
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   206
        ec_soe_request_t *request =
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   207
            list_entry(slave->soe_requests.next, ec_soe_request_t, list);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   208
        list_del_init(&request->list); // dequeue
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   209
        EC_SLAVE_WARN(slave, "Discarding SoE request,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   210
                " slave about to be deleted.\n");
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   211
        request->state = EC_INT_REQUEST_FAILURE;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   212
    }
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   213
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   214
    wake_up_all(&slave->master->request_queue);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   215
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   216
    if (slave->config) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   217
        ec_slave_config_detach(slave->config);
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   218
    }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   219
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   220
    // 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
   221
    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.
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parents: 446
diff changeset
   222
        list_del(&sdo->list);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   223
        ec_sdo_clear(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   224
        kfree(sdo);
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   225
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   226
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   227
    // free all strings
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   228
    if (slave->sii.strings) {
0791aac03180 Separated SII data from slave.
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parents: 831
diff changeset
   229
        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
   230
            kfree(slave->sii.strings[i]);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   231
        kfree(slave->sii.strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   232
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   233
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   234
    // free all sync managers
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   235
    ec_slave_clear_sync_managers(slave);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   236
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   237
    // free all SII PDOs
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   238
    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
   239
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   240
        ec_pdo_clear(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   241
        kfree(pdo);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   242
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   243
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   244
    if (slave->sii_words) {
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 967
diff changeset
   245
        kfree(slave->sii_words);
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   246
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   247
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   248
    ec_fsm_slave_clear(&slave->fsm);
482
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   249
}
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   250
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   251
/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   252
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   253
/** Clear the sync manager array.
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   254
 */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   255
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
   256
{
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   257
    unsigned int i;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   258
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   259
    if (slave->sii.syncs) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   260
        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
   261
            ec_sync_clear(&slave->sii.syncs[i]);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   262
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   263
        kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   264
        slave->sii.syncs = NULL;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   265
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   266
}
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   267
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   268
/*****************************************************************************/
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   269
482
fbaaaf2a6234 Added clear function for SDO kobject.
Florian Pose <fp@igh-essen.com>
parents: 467
diff changeset
   270
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   271
 * 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
   272
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   273
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   274
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
   275
        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
   276
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   277
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   278
    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
   279
        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
   280
            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
   281
                cur_state[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   282
            ec_state_string(slave->current_state, old_state, 0);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   283
            ec_state_string(new_state, cur_state, 0);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   284
            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   285
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   286
        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
   287
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   288
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   289
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   290
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   291
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   292
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   293
 * Request a slave state and resets the error flag.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   294
 */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   295
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   296
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
   297
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   298
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   299
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   300
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   301
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   302
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   303
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   304
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   305
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   306
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   307
   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
   308
   \todo range checking
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   309
   \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
   310
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   311
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   312
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   313
        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
   314
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   315
        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
   316
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   317
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   318
    int i, err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   319
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   320
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   321
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   322
    slave->sii.string_count = data[0];
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   323
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   324
    if (slave->sii.string_count) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   325
        if (!(slave->sii.strings =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   326
                    kmalloc(sizeof(char *) * slave->sii.string_count,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   327
                        GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   328
            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   329
            err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   330
            goto out_zero;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   331
        }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   332
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   333
        offset = 1;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   334
        for (i = 0; i < slave->sii.string_count; i++) {
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   335
            size = data[offset];
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   336
            // allocate memory for string structure and data at a single blow
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   337
            if (!(slave->sii.strings[i] =
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   338
                        kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   339
                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   340
                err = -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   341
                goto out_free;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   342
            }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   343
            memcpy(slave->sii.strings[i], data + offset + 1, size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   344
            slave->sii.strings[i][size] = 0x00; // append binary zero
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   345
            offset += 1 + size;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   346
        }
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   347
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   348
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   349
    return 0;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   350
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   351
out_free:
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   352
    for (i--; i >= 0; i--)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   353
        kfree(slave->sii.strings[i]);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   354
    kfree(slave->sii.strings);
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   355
    slave->sii.strings = NULL;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   356
out_zero:
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   357
    slave->sii.string_count = 0;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   358
    return err;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   359
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   360
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   361
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   362
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   363
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   364
   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
   365
   \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
   366
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   367
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   368
int ec_slave_fetch_sii_general(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   369
        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
   370
        const uint8_t *data, /**< category data */
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   371
        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
   372
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   373
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   374
    unsigned int i;
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   375
    uint8_t flags;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   376
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   377
    if (data_size != 32) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   378
        EC_SLAVE_ERR(slave, "Wrong size of general category (%zu/32).\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   379
                data_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   380
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   381
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   382
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   383
    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
   384
    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
   385
    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
   386
    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
   387
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   388
    for (i = 0; i < 4; i++)
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   389
        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
   390
            (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
   391
876
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   392
    // read CoE details
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   393
    flags = EC_READ_U8(data + 5);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   394
    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
   395
    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
   396
    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
   397
    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
   398
    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
   399
    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
   400
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   401
    // read general flags
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   402
    flags = EC_READ_U8(data + 0x000B);
8acdecb5a75e Fixed general flags on big-endian archs.
Florian Pose <fp@igh-essen.com>
parents: 873
diff changeset
   403
    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
   404
    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
   405
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   406
    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
   407
    slave->sii.has_general = 1;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   408
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   409
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   410
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   411
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   412
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   413
/** Fetches data from a SYNC MANAGER category.
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   414
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   415
 * 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
   416
 *
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   417
 * \return 0 in case of success, else < 0
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   418
 */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   419
int ec_slave_fetch_sii_syncs(
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   420
        ec_slave_t *slave, /**< EtherCAT slave. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   421
        const uint8_t *data, /**< Category data. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   422
        size_t data_size /**< Number of bytes. */
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   423
        )
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   424
{
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   425
    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
   426
    ec_sync_t *sync;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   427
    size_t memsize;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   428
    ec_sync_t *syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   429
    uint8_t index;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   430
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   431
    // 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
   432
    if (data_size % 8) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   433
        EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   434
                data_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   435
        return -EINVAL;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   436
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   437
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   438
    count = data_size / 8;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   439
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   440
    if (count) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   441
        total_count = count + slave->sii.sync_count;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   442
        if (total_count > EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   443
            EC_SLAVE_ERR(slave, "Exceeded maximum number of"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   444
                    " sync managers!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   445
            return -EOVERFLOW;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   446
        }
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   447
        memsize = sizeof(ec_sync_t) * total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   448
        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   449
            EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   450
                    " for sync managers.\n", memsize);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   451
            return -ENOMEM;
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   452
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   453
873
ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   454
        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
   455
            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
   456
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   457
        // initialize new sync managers
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   458
        for (i = 0; i < count; i++, data += 8) {
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   459
            index = i + slave->sii.sync_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   460
            sync = &syncs[index];
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   461
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   462
            ec_sync_init(sync, slave);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   463
            sync->physical_start_address = EC_READ_U16(data);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   464
            sync->default_length = EC_READ_U16(data + 2);
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   465
            sync->control_register = EC_READ_U8(data + 4);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   466
            sync->enable = EC_READ_U8(data + 6);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   467
        }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   468
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   469
        if (slave->sii.syncs)
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   470
            kfree(slave->sii.syncs);
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   471
        slave->sii.syncs = syncs;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   472
        slave->sii.sync_count = total_count;
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   473
    }
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 865
diff changeset
   474
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   475
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   476
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   477
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   478
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   479
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   480
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   481
   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
   482
   \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
   483
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   484
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   485
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   486
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   487
        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
   488
        size_t data_size, /**< number of bytes */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   489
        ec_direction_t dir /**< PDO direction. */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   490
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   491
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   492
    int ret;
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
   493
    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
   494
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   495
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   496
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   497
    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
   498
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   499
            EC_SLAVE_ERR(slave, "Failed to allocate PDO memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   500
            return -ENOMEM;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   501
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   502
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   503
        ec_pdo_init(pdo);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   504
        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
   505
        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
   506
        pdo->sync_index = EC_READ_U8(data + 3);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   507
        ret = ec_pdo_set_name(pdo,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   508
                ec_slave_sii_string(slave, EC_READ_U8(data + 5)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   509
        if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   510
            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
   511
            kfree(pdo);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   512
            return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   513
        }
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   514
        list_add_tail(&pdo->list, &slave->sii.pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   515
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   516
        data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   517
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   518
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   519
        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
   520
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   521
                EC_SLAVE_ERR(slave, "Failed to allocate PDO entry memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   522
                return -ENOMEM;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   523
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   524
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   525
            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
   526
            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
   527
            entry->subindex = EC_READ_U8(data + 2);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   528
            ret = ec_pdo_entry_set_name(entry,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   529
                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)));
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   530
            if (ret) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   531
                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
   532
                kfree(entry);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   533
                return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   534
            }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   535
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   536
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   537
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   538
            data_size -= 8;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   539
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   540
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   541
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   542
        // 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
   543
        if (pdo->sync_index >= 0) {
762
15214036c72a Store PDO mapping source in sync manager.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   544
            ec_sync_t *sync;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   545
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   546
            if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   547
                EC_SLAVE_ERR(slave, "Invalid SM index %i for PDO 0x%04X.",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   548
                        pdo->sync_index, pdo->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   549
                return -ENOENT;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   550
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   551
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   552
            ret = ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   553
            if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   554
                return ret;
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   555
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   556
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   557
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   558
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   559
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   560
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   561
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   562
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   563
/**
784
0a0994fdafb8 Esthetic surgery for slave.
Florian Pose <fp@igh-essen.com>
parents: 772
diff changeset
   564
   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
   565
   \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
   566
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   567
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   568
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   569
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   570
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   571
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   572
{
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   573
    if (!index--)
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   574
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   575
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   576
    if (index >= slave->sii.string_count) {
1924
2917b262554b Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   577
        EC_SLAVE_DBG(slave, 1, "String %u not found.\n", index);
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   578
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   579
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   580
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   581
    return slave->sii.strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   582
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   583
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   584
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   585
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   586
/** Get the sync manager given an index.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   587
 *
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   588
 * \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
   589
 */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   590
ec_sync_t *ec_slave_get_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
   591
        ec_slave_t *slave, /**< EtherCAT slave. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   592
        uint8_t sync_index /**< Sync manager index. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   593
        )
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   594
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   595
    if (sync_index < slave->sii.sync_count) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   596
        return &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   597
    } else {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   598
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   599
    }
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   600
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   601
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   602
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   603
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   604
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   605
   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
   606
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   607
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   608
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   609
                            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
   610
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   611
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   612
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   613
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   614
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   615
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   616
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   617
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   618
    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
   619
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   620
        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
   621
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   622
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   623
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   624
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   625
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   626
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   627
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
   628
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   629
/*****************************************************************************/
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   630
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   631
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   632
 * Get an SDO from the dictionary.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   633
 * \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
   634
 */
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   635
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   636
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
   637
        ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   638
        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
   639
        )
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   640
{
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   641
    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
   642
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   643
    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
   644
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   645
            continue;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   646
        return sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   647
    }
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   648
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   649
    return NULL;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   650
}
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   651
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   652
/*****************************************************************************/
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   653
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   654
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   655
 * Get an SDO from the dictionary.
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   656
 *
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   657
 * const version.
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   658
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   659
 * \returns The desired SDO, or NULL.
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   660
 */
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   661
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   662
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
   663
        const ec_slave_t *slave, /**< EtherCAT slave */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   664
        uint16_t index /**< SDO index */
967
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   665
        )
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   666
{
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   667
    const ec_sdo_t *sdo;
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   668
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   669
    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
   670
        if (sdo->index != index)
93807963b906 Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents: 964
diff changeset
   671
            continue;
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   672
        return sdo;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   673
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   674
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   675
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   676
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents: 735
diff changeset
   677
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 784
diff changeset
   678
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   679
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   680
/** Get an SDO from the dictionary, given its position in the list.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   681
 * \returns The desired SDO, or NULL.
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
   682
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   683
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   684
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
   685
        const ec_slave_t *slave, /**< EtherCAT slave. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   686
        uint16_t sdo_position /**< SDO list position. */
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
   687
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   688
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   689
    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
   690
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   691
    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
   692
        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
   693
            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
   694
        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
   695
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   696
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   697
    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
   698
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   699
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   700
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   701
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   702
/** Get the number of SDOs in the dictionary.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   703
 * \returns SDO count.
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
   704
 */
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   705
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   706
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
   707
        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
   708
        )
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   709
{
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   710
    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
   711
    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
   712
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   713
    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
   714
        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
   715
    }
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   716
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   717
    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
   718
}
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   719
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   720
/*****************************************************************************/
957f21465052 Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   721
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   722
/** Finds a mapped PDO.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   723
 * \returns The desired PDO object, or NULL.
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   724
 */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   725
const ec_pdo_t *ec_slave_find_pdo(
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   726
        const ec_slave_t *slave, /**< Slave. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   727
        uint16_t index /**< PDO index to find. */
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   728
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   729
{
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   730
    unsigned int i;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   731
    const ec_sync_t *sync;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   732
    const ec_pdo_t *pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   733
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   734
    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
   735
        sync = &slave->sii.syncs[i];
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   736
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 876
diff changeset
   737
        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
   738
            continue;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   739
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   740
        return pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   741
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   742
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   743
    return NULL;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   744
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   745
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   746
/*****************************************************************************/
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   747
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   748
/** Find name for a PDO and its entries.
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   749
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   750
void ec_slave_find_names_for_pdo(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   751
        ec_slave_t *slave,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   752
        ec_pdo_t *pdo
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   753
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   754
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   755
    const ec_sdo_t *sdo;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   756
    ec_pdo_entry_t *pdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   757
    const ec_sdo_entry_t *sdo_entry;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   758
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   759
    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   760
        if (sdo->index == pdo->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   761
            ec_pdo_set_name(pdo, sdo->name);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   762
        } else {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   763
            list_for_each_entry(pdo_entry, &pdo->entries, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   764
                if (sdo->index == pdo_entry->index) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   765
                    sdo_entry = ec_sdo_get_entry_const(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   766
                            sdo, pdo_entry->subindex);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   767
                    if (sdo_entry) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   768
                        ec_pdo_entry_set_name(pdo_entry,
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   769
                                sdo_entry->description);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   770
                    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   771
                }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   772
            }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   773
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   774
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   775
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   776
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   777
/*****************************************************************************/
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   778
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   779
/** Attach PDO names.
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   780
 */
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   781
void ec_slave_attach_pdo_names(
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   782
        ec_slave_t *slave
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   783
        )
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   784
{
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   785
    unsigned int i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   786
    ec_sync_t *sync;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   787
    ec_pdo_t *pdo;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   788
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   789
    for (i = 0; i < slave->sii.sync_count; i++) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   790
        sync = slave->sii.syncs + i;
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   791
        list_for_each_entry(pdo, &sync->pdos.list, list) {
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   792
            ec_slave_find_names_for_pdo(slave, pdo);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   793
        }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   794
    }
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   795
}
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   796
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   797
/*****************************************************************************/
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   798
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   799
/** Returns the previous connected port of a given port.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   800
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   801
 * \return Port index.
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   802
 */
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   803
unsigned int ec_slave_get_previous_port(
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   804
        ec_slave_t *slave, /**< EtherCAT slave. */
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   805
        unsigned int port_index /**< Port index. */
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   806
        )
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   807
{
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   808
    static const unsigned int prev_table[EC_MAX_PORTS] = {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   809
        2, 3, 1, 0
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   810
    };
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   811
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   812
    if (port_index >= EC_MAX_PORTS) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   813
        EC_SLAVE_WARN(slave, "%s(port_index=%u): Invalid port index!\n",
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   814
                __func__, port_index);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   815
    }
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   816
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   817
    do {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   818
        port_index = prev_table[port_index];
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   819
        if (slave->ports[port_index].next_slave) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   820
            return port_index;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   821
        }
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   822
    } while (port_index);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   823
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   824
    return 0;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   825
}
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   826
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   827
/*****************************************************************************/
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   828
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   829
/** Returns the next connected port of a given port.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   830
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   831
 * \return Port index.
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   832
 */
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   833
unsigned int ec_slave_get_next_port(
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   834
        ec_slave_t *slave, /**< EtherCAT slave. */
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   835
        unsigned int port_index /**< Port index. */
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   836
        )
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   837
{
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   838
    static const unsigned int next_table[EC_MAX_PORTS] = {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   839
        3, 2, 0, 1
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   840
    };
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   841
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   842
    if (port_index >= EC_MAX_PORTS) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   843
        EC_SLAVE_WARN(slave, "%s(port_index=%u): Invalid port index!\n",
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   844
                __func__, port_index);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   845
    }
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   846
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   847
    do {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   848
        port_index = next_table[port_index];
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   849
        if (slave->ports[port_index].next_slave) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   850
            return port_index;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   851
        }
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   852
    } while (port_index);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   853
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   854
    return 0;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   855
}
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   856
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   857
/*****************************************************************************/
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   858
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   859
/** Calculates the sum of round-trip-times of connected ports 1-3.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   860
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   861
 * \return Round-trip-time in ns.
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   862
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   863
uint32_t ec_slave_calc_rtt_sum(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   864
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   865
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   866
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   867
    uint32_t rtt_sum = 0, rtt;
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   868
    unsigned int port_index = ec_slave_get_next_port(slave, 0);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   869
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   870
    while (port_index != 0) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   871
        unsigned int prev_index =
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   872
            ec_slave_get_previous_port(slave, port_index);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   873
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   874
        rtt = slave->ports[port_index].receive_time -
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   875
            slave->ports[prev_index].receive_time;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   876
        rtt_sum += rtt;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   877
        port_index = ec_slave_get_next_port(slave, port_index);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   878
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   879
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   880
    return rtt_sum;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   881
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   882
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   883
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   884
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   885
/** Finds the next slave supporting DC delay measurement.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   886
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   887
 * \return Next DC slave, or NULL.
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   888
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   889
ec_slave_t *ec_slave_find_next_dc_slave(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   890
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   891
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   892
{
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   893
    unsigned int port_index;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   894
    ec_slave_t *dc_slave = NULL;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   895
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   896
    if (slave->base_dc_supported) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   897
        dc_slave = slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   898
    } else {
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   899
        port_index = ec_slave_get_next_port(slave, 0);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   900
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   901
        while (port_index != 0) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   902
            ec_slave_t *next = slave->ports[port_index].next_slave;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   903
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   904
            if (next) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   905
                dc_slave = ec_slave_find_next_dc_slave(next);
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   906
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   907
                if (dc_slave) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   908
                    break;
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   909
                }
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   910
            }
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   911
            port_index = ec_slave_get_next_port(slave, port_index);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   912
        }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   913
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   914
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   915
    return dc_slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   916
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   917
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   918
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   919
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   920
/** Calculates the port transmission delays.
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   921
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   922
void ec_slave_calc_port_delays(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   923
        ec_slave_t *slave /**< EtherCAT slave. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   924
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   925
{
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   926
    unsigned int port_index;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   927
    ec_slave_t *next_slave, *next_dc;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   928
    uint32_t rtt, next_rtt_sum;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   929
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   930
    if (!slave->base_dc_supported)
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   931
        return;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   932
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   933
    port_index = ec_slave_get_next_port(slave, 0);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   934
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   935
    while (port_index != 0) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   936
        next_slave = slave->ports[port_index].next_slave;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   937
        next_dc = ec_slave_find_next_dc_slave(next_slave);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   938
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   939
        if (next_dc) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   940
            unsigned int prev_port =
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   941
                ec_slave_get_previous_port(slave, port_index);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   942
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   943
            rtt = slave->ports[port_index].receive_time -
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   944
                slave->ports[prev_port].receive_time;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   945
            next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   946
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   947
            slave->ports[port_index].delay_to_next_dc =
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   948
                (rtt - next_rtt_sum) / 2; // FIXME
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   949
            next_dc->ports[0].delay_to_next_dc =
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   950
                (rtt - next_rtt_sum) / 2;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   951
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   952
#if 0
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   953
            EC_SLAVE_DBG(slave, 1, "delay %u:%u rtt=%u"
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   954
                    " next_rtt_sum=%u delay=%u\n",
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   955
                    slave->ring_position, port_index, rtt, next_rtt_sum,
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   956
                    slave->ports[port_index].delay_to_next_dc);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   957
#endif
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   958
        }
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   959
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   960
        port_index = ec_slave_get_next_port(slave, port_index);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   961
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   962
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   963
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   964
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   965
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   966
/** Recursively calculates transmission delays.
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   967
 */
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   968
void ec_slave_calc_transmission_delays_rec(
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   969
        ec_slave_t *slave, /**< Current slave. */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   970
        uint32_t *delay /**< Sum of delays. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
   971
        )
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   972
{
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   973
    unsigned int i;
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   974
    ec_slave_t *next_dc;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   975
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   976
    EC_SLAVE_DBG(slave, 1, "%s(delay = %u ns)\n", __func__, *delay);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   977
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   978
    slave->transmission_delay = *delay;
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   979
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   980
    i = ec_slave_get_next_port(slave, 0);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   981
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   982
    while (i != 0) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   983
        ec_slave_port_t *port = &slave->ports[i];
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   984
        next_dc = ec_slave_find_next_dc_slave(port->next_slave);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   985
        if (next_dc) {
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   986
            *delay = *delay + port->delay_to_next_dc;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   987
#if 0
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   988
            EC_SLAVE_DBG(slave, 1, "%u:%u %u\n",
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   989
                    slave->ring_position, i, *delay);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   990
#endif
2291
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   991
            ec_slave_calc_transmission_delays_rec(next_dc, delay);
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   992
        }
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   993
1f44094e2004 Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   994
        i = ec_slave_get_next_port(slave, i);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   995
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   996
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   997
    *delay = *delay + slave->ports[0].delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   998
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   999
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1000
/*****************************************************************************/