master/slave.c
author Florian Pose <fp@igh-essen.com>
Mon, 17 Sep 2007 10:30:16 +0000
changeset 727 fc533d28c6f8
parent 696 24fac09b5b26
child 730 226fe5065cf2
permissions -rw-r--r--
Fixed e1000 driver when NAPI is enabled.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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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 "slave.h"
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#include "datagram.h"
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#include "master.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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void ec_slave_clear(struct kobject *);
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void ec_slave_sdos_clear(struct kobject *);
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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
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                                 const char *, size_t);
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char *ec_slave_sii_string(ec_slave_t *, unsigned int);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_WRITE_ATTR(state);
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EC_SYSFS_READ_WRITE_ATTR(eeprom);
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EC_SYSFS_READ_WRITE_ATTR(alias);
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static struct attribute *def_attrs[] = {
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    &attr_info,
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    &attr_state,
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    &attr_eeprom,
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    &attr_alias,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = ec_show_slave_attribute,
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    .store = ec_store_slave_attribute
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};
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static struct kobj_type ktype_ec_slave = {
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    .release = ec_slave_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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static struct kobj_type ktype_ec_slave_sdos = {
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    .release = ec_slave_sdos_clear
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};
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/** \endcond */
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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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int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
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                  ec_master_t *master, /**< EtherCAT master */
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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->ring_position = ring_position;
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    slave->station_address = station_address;
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    slave->master = master;
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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->self_configured = 0;
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    slave->error_flag = 0;
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    slave->online_state = EC_SLAVE_ONLINE;
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    slave->fmmu_count = 0;
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    slave->pdos_registered = 0;
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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->eeprom_data = NULL;
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    slave->eeprom_size = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   131
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   132
    slave->sii_alias = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   133
    slave->sii_vendor_id = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   134
    slave->sii_product_code = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   135
    slave->sii_revision_number = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   136
    slave->sii_serial_number = 0;
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   137
    slave->sii_rx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   138
    slave->sii_rx_mailbox_size = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   139
    slave->sii_tx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   140
    slave->sii_tx_mailbox_size = 0;
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   141
    slave->sii_mailbox_protocols = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   142
    slave->sii_group = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   143
    slave->sii_image = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   144
    slave->sii_order = NULL;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   145
    slave->sii_name = NULL;
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   146
    slave->sii_current_on_ebus = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   147
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   148
    slave->sii_strings = NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   149
    slave->sii_string_count = 0;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   150
    slave->sii_syncs = NULL;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   151
    slave->sii_sync_count = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   152
    INIT_LIST_HEAD(&slave->sii_pdos);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
   153
    INIT_LIST_HEAD(&slave->sdo_dictionary);
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   154
    INIT_LIST_HEAD(&slave->sdo_confs);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   155
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   156
    slave->sdo_dictionary_fetched = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   157
    slave->jiffies_preop = 0;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 418
diff changeset
   158
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   159
    for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   160
        slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   161
        slave->dl_loop[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   162
        slave->dl_signal[i] = 0;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   163
        slave->sii_physical_layer[i] = 0xFF;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   164
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   165
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   166
    // init kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   167
    memset(&slave->kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   168
    kobject_init(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   169
    slave->kobj.ktype = &ktype_ec_slave;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   170
    slave->kobj.parent = &master->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   171
    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   172
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   173
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   174
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   175
    if (kobject_add(&slave->kobj)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   176
        EC_ERR("Failed to add slave's kobject.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   177
        goto out_slave_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   178
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   179
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   180
    // init SDO kobject and add it to the hierarchy
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   181
    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   182
    kobject_init(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   183
    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   184
    slave->sdo_kobj.parent = &slave->kobj;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   185
    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   186
        EC_ERR("Failed to set kobject name.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   187
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   188
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   189
    if (kobject_add(&slave->sdo_kobj)) {
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   190
        EC_ERR("Failed to add SDOs kobject.\n");
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   191
        goto out_sdo_put;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   192
    }
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   193
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   194
    return 0;
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   195
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   196
 out_sdo_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   197
    kobject_put(&slave->sdo_kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   198
    kobject_del(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   199
 out_slave_put:
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   200
    kobject_put(&slave->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   201
    return -1;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   202
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   203
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   204
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   205
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   206
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   207
   Slave destructor.
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   208
   Clears and frees a slave object.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   209
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   210
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   211
void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   212
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   213
    ec_sdo_t *sdo, *next_sdo;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   214
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   215
    // free all SDOs
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   216
    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   217
        list_del(&sdo->list);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   218
        ec_sdo_destroy(sdo);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   219
    }
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   220
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
    // free SDO kobject
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 482
diff changeset
   222
    kobject_del(&slave->sdo_kobj);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   223
    kobject_put(&slave->sdo_kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   224
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   225
    // destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   226
    kobject_del(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   227
    kobject_put(&slave->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   228
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   229
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   230
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   231
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   232
/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   233
   Clear and free slave.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   234
   This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   235
   once there are no more references to it.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   236
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   237
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   238
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   239
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   240
    ec_slave_t *slave;
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   241
    ec_pdo_t *pdo, *next_pdo;
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   242
    ec_sdo_data_t *sdodata, *next_sdodata;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   243
    unsigned int i;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   244
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   245
    slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
   246
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   247
    // free all strings
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   248
    if (slave->sii_strings) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   249
        for (i = 0; i < slave->sii_string_count; i++)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   250
            kfree(slave->sii_strings[i]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   251
        kfree(slave->sii_strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   252
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   253
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   254
    // free all sync managers
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
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diff changeset
   255
    if (slave->sii_syncs) {
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diff changeset
   256
        for (i = 0; i < slave->sii_sync_count; i++) {
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   257
            ec_sync_clear(&slave->sii_syncs[i]);
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diff changeset
   258
        }
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   259
        kfree(slave->sii_syncs);
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   260
    }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   261
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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   262
    // free all SII PDOs
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   263
    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   264
        list_del(&pdo->list);
627
4793ca94f082 Layed out PDO structures to own files.
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diff changeset
   265
        ec_pdo_clear(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   266
        kfree(pdo);
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diff changeset
   267
    }
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diff changeset
   268
329
d004349777fc SDO configuration interface, SDO download state machine.
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diff changeset
   269
    // free all SDO configurations
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diff changeset
   270
    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
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diff changeset
   271
        list_del(&sdodata->list);
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diff changeset
   272
        kfree(sdodata->data);
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diff changeset
   273
        kfree(sdodata);
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diff changeset
   274
    }
d004349777fc SDO configuration interface, SDO download state machine.
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diff changeset
   275
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
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diff changeset
   276
    if (slave->eeprom_data) kfree(slave->eeprom_data);
418
7a43437bc48b Fixed memory leak in master and slave destructors.
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diff changeset
   277
7a43437bc48b Fixed memory leak in master and slave destructors.
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   278
    kfree(slave);
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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parents: 119
diff changeset
   279
}
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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parents: 119
diff changeset
   280
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   281
/*****************************************************************************/
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   282
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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parents: 119
diff changeset
   283
/**
482
fbaaaf2a6234 Added clear function for SDO kobject.
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   284
*/
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   285
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   286
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
fbaaaf2a6234 Added clear function for SDO kobject.
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   287
{
fbaaaf2a6234 Added clear function for SDO kobject.
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   288
}
fbaaaf2a6234 Added clear function for SDO kobject.
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parents: 467
diff changeset
   289
fbaaaf2a6234 Added clear function for SDO kobject.
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   290
/*****************************************************************************/
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   291
fbaaaf2a6234 Added clear function for SDO kobject.
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diff changeset
   292
/**
446
8fede404c01f Persistent slave lists.
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   293
   Reset slave from operation mode.
8fede404c01f Persistent slave lists.
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diff changeset
   294
*/
8fede404c01f Persistent slave lists.
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   295
8fede404c01f Persistent slave lists.
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   296
void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
8fede404c01f Persistent slave lists.
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diff changeset
   297
{
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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   298
    ec_sdo_data_t *sdodata, *next_sdodata;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
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parents: 613
diff changeset
   299
    unsigned int i;
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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diff changeset
   300
446
8fede404c01f Persistent slave lists.
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diff changeset
   301
    slave->fmmu_count = 0;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   302
    slave->pdos_registered = 0;
465
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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parents: 464
diff changeset
   303
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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parents: 464
diff changeset
   304
    // free all SDO configurations
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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parents: 464
diff changeset
   305
    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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parents: 464
diff changeset
   306
        list_del(&sdodata->list);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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parents: 464
diff changeset
   307
        kfree(sdodata->data);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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parents: 464
diff changeset
   308
        kfree(sdodata);
3779b60a7c9b BUGFIX: Remove SDO configurations when leaving OPERATION mode.
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parents: 464
diff changeset
   309
    }
467
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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parents: 465
diff changeset
   310
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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parents: 465
diff changeset
   311
    // remove estimated sync manager sizes
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
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parents: 613
diff changeset
   312
    for (i = 0; i < slave->sii_sync_count; i++) {
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
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parents: 613
diff changeset
   313
        slave->sii_syncs[i].est_length = 0;
467
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
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parents: 465
diff changeset
   314
    }
446
8fede404c01f Persistent slave lists.
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diff changeset
   315
}
8fede404c01f Persistent slave lists.
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diff changeset
   316
8fede404c01f Persistent slave lists.
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diff changeset
   317
/*****************************************************************************/
8fede404c01f Persistent slave lists.
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diff changeset
   318
8fede404c01f Persistent slave lists.
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diff changeset
   319
/**
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   320
 * Sets the application state of a slave.
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   321
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   322
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   323
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   324
        ec_slave_state_t new_state /**< new application state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   325
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   326
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   327
    if (new_state != slave->current_state) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   328
        if (slave->master->debug_level) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   329
            char old_state[EC_STATE_STRING_SIZE],
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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parents: 609
diff changeset
   330
                cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   331
            ec_state_string(slave->current_state, old_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   332
            ec_state_string(new_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   333
            EC_DBG("Slave %i: %s -> %s.\n",
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   334
                   slave->ring_position, old_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   335
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   336
        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
   337
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   338
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   339
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   340
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   341
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   342
/**
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   343
 * Sets the online 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
   344
 */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   345
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   346
void ec_slave_set_online_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
   347
        ec_slave_online_state_t new_state /**< new online state */
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   348
        )
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   349
{
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   350
    if (new_state == EC_SLAVE_OFFLINE &&
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   351
            slave->online_state == EC_SLAVE_ONLINE) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   352
        if (slave->pdos_registered)
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   353
            slave->master->pdo_slaves_offline++;
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   354
        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
   355
            EC_DBG("Slave %i: offline.\n", slave->ring_position);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   356
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   357
    else if (new_state == EC_SLAVE_ONLINE &&
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   358
            slave->online_state == EC_SLAVE_OFFLINE) {
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   359
        slave->error_flag = 0; // clear error flag
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   360
        if (slave->pdos_registered)
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   361
            slave->master->pdo_slaves_offline--;
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   362
        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
   363
            char cur_state[EC_STATE_STRING_SIZE];
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   364
            ec_state_string(slave->current_state, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   365
            EC_DBG("Slave %i: online (%s).\n",
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   366
                   slave->ring_position, cur_state);
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   367
        }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   368
    }
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   369
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   370
    slave->online_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
   371
}
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   372
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   373
/*****************************************************************************/
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   374
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   375
/**
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   376
 */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   377
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   378
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
   379
                            ec_slave_state_t state /**< new state */
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   380
                            )
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   381
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   382
    slave->requested_state = state;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   383
    slave->error_flag = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   384
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   385
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   386
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   387
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
   388
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   389
   Fetches data from a STRING category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   390
   \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
   391
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   392
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   393
int ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   394
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   395
        const uint8_t *data /**< category data */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   396
        )
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   397
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   398
    int i;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   399
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   400
    off_t offset;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   401
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   402
    slave->sii_string_count = data[0];
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   403
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   404
    if (!slave->sii_string_count)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   405
        return 0;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   406
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   407
    if (!(slave->sii_strings =
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   408
                kmalloc(sizeof(char *) * slave->sii_string_count,
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   409
                    GFP_KERNEL))) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   410
        EC_ERR("Failed to allocate string array memory.\n");
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   411
        goto out_zero;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   412
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   413
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   414
    offset = 1;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   415
    for (i = 0; i < slave->sii_string_count; i++) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   416
        size = data[offset];
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   417
        // allocate memory for string structure and data at a single blow
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   418
        if (!(slave->sii_strings[i] =
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   419
                    kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   420
            EC_ERR("Failed to allocate string memory.\n");
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   421
            goto out_free;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   422
        }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   423
        memcpy(slave->sii_strings[i], data + offset + 1, size);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   424
        slave->sii_strings[i][size] = 0x00; // append binary zero
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   425
        offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   426
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   427
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   428
    return 0;
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   429
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   430
out_free:
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   431
    for (i--; i >= 0; i--) kfree(slave->sii_strings[i]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   432
    kfree(slave->sii_strings);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   433
    slave->sii_strings = NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   434
out_zero:
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   435
    slave->sii_string_count = 0;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   436
    return -1;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   437
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   438
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   439
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   440
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   441
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   442
   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
   443
   \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
   444
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   445
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   446
void ec_slave_fetch_sii_general(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   447
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   448
        const uint8_t *data /**< category data */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   449
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   450
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   451
    unsigned int i;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   452
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   453
    slave->sii_group = ec_slave_sii_string(slave, data[0]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   454
    slave->sii_image = ec_slave_sii_string(slave, data[1]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   455
    slave->sii_order = ec_slave_sii_string(slave, data[2]);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   456
    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
   457
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   458
    for (i = 0; i < 4; i++)
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   459
        slave->sii_physical_layer[i] =
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   460
            (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
   461
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   462
    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   463
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   464
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   465
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   466
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   467
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   468
   Fetches data from a SYNC MANAGER category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   469
   \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
   470
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   471
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   472
int ec_slave_fetch_sii_syncs(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   473
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   474
        const uint8_t *data, /**< category data */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   475
        size_t word_count /**< number of words */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   476
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   477
{
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   478
    unsigned int i;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   479
    ec_sync_t *sync;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   480
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   481
    // sync manager struct is 4 words long
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   482
    slave->sii_sync_count = word_count / 4;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   483
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   484
    if (!(slave->sii_syncs =
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   485
                kmalloc(sizeof(ec_sync_t) * slave->sii_sync_count,
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   486
                    GFP_KERNEL))) {
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   487
        EC_ERR("Failed to allocate memory for sync managers.\n");
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   488
        slave->sii_sync_count = 0;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   489
        return -1;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   490
    }
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   491
    
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   492
    for (i = 0; i < slave->sii_sync_count; i++, data += 8) {
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   493
        sync = &slave->sii_syncs[i];
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   494
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   495
        ec_sync_init(sync, slave, i);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   496
        sync->physical_start_address = EC_READ_U16(data);
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   497
        sync->length = EC_READ_U16(data + 2);
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   498
        sync->control_register = EC_READ_U8 (data + 4);
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 627
diff changeset
   499
        sync->enable = EC_READ_U8 (data + 6);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   500
    }
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
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   503
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   504
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   505
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   506
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   507
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   508
   Fetches data from a [RT]XPDO category.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   509
   \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
   510
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   511
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   512
int ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   513
        ec_slave_t *slave, /**< EtherCAT slave */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   514
        const uint8_t *data, /**< category data */
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   515
        size_t word_count, /**< number of words */
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
   516
        ec_pdo_type_t pdo_type /**< PDO type */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   517
        )
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   518
{
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   519
    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
   520
    ec_pdo_entry_t *entry;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   521
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   522
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   523
    while (word_count >= 4) {
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
   524
        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   525
            EC_ERR("Failed to allocate PDO memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   526
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   527
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   528
627
4793ca94f082 Layed out PDO structures to own files.
Florian Pose <fp@igh-essen.com>
parents: 626
diff changeset
   529
        ec_pdo_init(pdo);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   530
        pdo->type = pdo_type;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   531
        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
   532
        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
   533
        pdo->sync_index = EC_READ_U8(data + 3);
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   534
        pdo->name = ec_slave_sii_string(slave, EC_READ_U8(data + 5));
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   535
        list_add_tail(&pdo->list, &slave->sii_pdos);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   536
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   537
        word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   538
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   539
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   540
        for (i = 0; i < entry_count; i++) {
625
ec69acbbd156 Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
Florian Pose <fp@igh-essen.com>
parents: 624
diff changeset
   541
            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   542
                EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   543
                return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   544
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   545
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   546
            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
   547
            entry->subindex = EC_READ_U8(data + 2);
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   548
            entry->name = ec_slave_sii_string(slave, EC_READ_U8(data + 3));
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   549
            entry->bit_length = EC_READ_U8(data + 5);
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   550
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   551
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   552
            word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   553
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   554
        }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   555
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   556
        // if sync manager index is positive, the PDO is mapped by default
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   557
        if (pdo->sync_index >= 0) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   558
            ec_pdo_t *mapped_pdo;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   559
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   560
            if (pdo->sync_index >= slave->sii_sync_count) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   561
                EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   562
                        pdo->sync_index, pdo->index, slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   563
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   564
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   565
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   566
            if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   567
                EC_ERR("Failed to allocate PDO memory.\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   568
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   569
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   570
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   571
            if (ec_pdo_copy(mapped_pdo, pdo)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   572
                EC_ERR("Failed to copy PDO.\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   573
                kfree(mapped_pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   574
                return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   575
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   576
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   577
            list_add_tail(&mapped_pdo->list,
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   578
                    &slave->sii_syncs[pdo->sync_index].pdos);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   579
        }
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   580
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   581
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   582
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   583
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   584
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   585
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   586
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   587
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   588
   Searches the string list for an index and allocates a new string.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   589
   \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
   590
   \todo documentation
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   591
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   592
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   593
char *ec_slave_sii_string(
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   594
        ec_slave_t *slave, /**< EtherCAT slave */
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   595
        unsigned int index /**< string index */
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 619
diff changeset
   596
        )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   597
{
624
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   598
    if (!index--) 
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   599
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   600
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   601
    if (index >= slave->sii_string_count) {
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   602
        if (slave->master->debug_level)
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   603
            EC_WARN("String %i not found in slave %i.\n",
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   604
                    index, slave->ring_position);
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   605
        return NULL;
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   606
    }
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   607
11332ad89f47 Simplified handling of EEPROM strings.
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   608
    return slave->sii_strings[index];
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   609
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   610
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   611
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   612
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   613
/**
630
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   614
 * Prepares an FMMU configuration.
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   615
 * Configuration data for the FMMU is saved in the slave structure and is
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   616
 * written to the slave in ecrt_master_activate().
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   617
 * The FMMU configuration is done in a way, that the complete data range
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   618
 * of the corresponding sync manager is covered. Seperate FMMUs are configured
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   619
 * for each domain.
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   620
 * If the FMMU configuration is already prepared, the function returns with
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   621
 * success.
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   622
 * \return 0 in case of success, else < 0
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   623
 */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   624
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   625
int ec_slave_prepare_fmmu(
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   626
        ec_slave_t *slave, /**< EtherCAT slave */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   627
        const ec_domain_t *domain, /**< domain */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   628
        const ec_sync_t *sync  /**< sync manager */
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   629
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   630
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   631
    unsigned int i;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   632
    ec_fmmu_t *fmmu;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   633
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   634
    // FMMU configuration already prepared?
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   635
    for (i = 0; i < slave->fmmu_count; i++) {
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   636
        fmmu = &slave->fmmus[i];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   637
        if (fmmu->domain == domain && fmmu->sync == sync)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   638
            return 0;
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   639
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   640
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   641
    // reserve new FMMU...
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   642
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   643
    if (slave->fmmu_count >= slave->base_fmmu_count) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   644
        EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   645
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   646
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   647
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   648
    fmmu = &slave->fmmus[slave->fmmu_count];
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   649
630
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   650
    ec_fmmu_init(fmmu, slave, slave->fmmu_count++);
412
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   651
    fmmu->domain = domain;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   652
    fmmu->sync = sync;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   653
    fmmu->logical_start_address = 0;
2e50ddc3e777 Added FMMU debugging.
Florian Pose <fp@igh-essen.com>
parents: 410
diff changeset
   654
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   655
    slave->pdos_registered = 1;
609
611d738a1392 Moved state request on PDO registration to slave.c.
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   656
    
611d738a1392 Moved state request on PDO registration to slave.c.
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   657
    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   658
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   659
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   660
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   661
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   662
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   663
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   664
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   665
   Outputs all information about a certain slave.
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   666
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   667
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   668
size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   669
                     char *buffer /**< Output buffer */
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   670
                     )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   671
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   672
    off_t off = 0;
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
   673
    ec_sync_t *sync;
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
   674
    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
   675
    ec_pdo_entry_t *pdo_entry;
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   676
    int first, i;
464
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   677
    ec_sdo_data_t *sdodata;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   678
    char str[20];
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   679
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   680
    off += sprintf(buffer + off, "\nName: ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   681
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   682
    if (slave->sii_name)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   683
        off += sprintf(buffer + off, "%s", slave->sii_name);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   684
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   685
    off += sprintf(buffer + off, "\nVendor ID: 0x%08X\n",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   686
                   slave->sii_vendor_id);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   687
    off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   688
                   slave->sii_product_code);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   689
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   690
    off += sprintf(buffer + off, "State: ");
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   691
    off += ec_state_string(slave->current_state, buffer + off);
519
54787e1b57d4 Display requested state in slave info.
Florian Pose <fp@igh-essen.com>
parents: 499
diff changeset
   692
    off += sprintf(buffer + off, " (");
54787e1b57d4 Display requested state in slave info.
Florian Pose <fp@igh-essen.com>
parents: 499
diff changeset
   693
    off += ec_state_string(slave->requested_state, buffer + off);
54787e1b57d4 Display requested state in slave info.
Florian Pose <fp@igh-essen.com>
parents: 499
diff changeset
   694
    off += sprintf(buffer + off, ")\nFlags: %s, %s\n",
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   695
            slave->online_state == EC_SLAVE_ONLINE ? "online" : "OFFLINE",
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 609
diff changeset
   696
            slave->error_flag ? "ERROR" : "ok");
458
6467f0f6e370 Added slave flags to Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   697
    off += sprintf(buffer + off, "Ring position: %i\n",
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   698
                   slave->ring_position);
499
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   699
    off += sprintf(buffer + off, "Current consumption: %i mA\n\n",
fb005e975181 Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   700
                   slave->sii_current_on_ebus);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   701
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   702
    off += sprintf(buffer + off, "Data link status:\n");
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
   703
    for (i = 0; i < 4; i++) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   704
        off += sprintf(buffer + off, "  Port %i (", i);
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   705
        switch (slave->sii_physical_layer[i]) {
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   706
            case 0x00:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   707
                off += sprintf(buffer + off, "EBUS");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   708
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   709
            case 0x01:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   710
                off += sprintf(buffer + off, "100BASE-TX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   711
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   712
            case 0x02:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   713
                off += sprintf(buffer + off, "100BASE-FX");
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   714
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   715
            default:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   716
                off += sprintf(buffer + off, "unknown (%i)",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   717
                               slave->sii_physical_layer[i]);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   718
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   719
        off += sprintf(buffer + off, ") Link %s, Loop %s, %s\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   720
                       slave->dl_link[i] ? "up" : "down",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   721
                       slave->dl_loop[i] ? "closed" : "open",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   722
                       slave->dl_signal[i] ? "Signal detected" : "No signal");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   723
    }
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   724
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   725
    if (slave->sii_mailbox_protocols) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   726
        off += sprintf(buffer + off, "\nMailboxes:\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   727
        off += sprintf(buffer + off, "  RX mailbox: 0x%04X/%i,"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   728
                       " TX mailbox: 0x%04X/%i\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   729
                       slave->sii_rx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   730
                       slave->sii_rx_mailbox_size,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   731
                       slave->sii_tx_mailbox_offset,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   732
                       slave->sii_tx_mailbox_size);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   733
        off += sprintf(buffer + off, "  Supported protocols: ");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   734
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   735
        first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   736
        if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   737
            off += sprintf(buffer + off, "AoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   738
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   739
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   740
        if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   741
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   742
            off += sprintf(buffer + off, "EoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   743
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   744
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   745
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   746
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   747
            off += sprintf(buffer + off, "CoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   748
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   749
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   750
        if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   751
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   752
            off += sprintf(buffer + off, "FoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   753
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   754
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   755
        if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   756
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   757
            off += sprintf(buffer + off, "SoE");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   758
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   759
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   760
        if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   761
            if (!first) off += sprintf(buffer + off, ", ");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   762
            off += sprintf(buffer + off, "VoE");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   763
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   764
        off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   765
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   766
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   767
    if (slave->sii_alias || slave->sii_group
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   768
        || slave->sii_image || slave->sii_order)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   769
        off += sprintf(buffer + off, "\nSII data:\n");
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
   770
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   771
    if (slave->sii_alias)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   772
        off += sprintf(buffer + off, "  Configured station alias:"
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   773
                       " 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   774
    if (slave->sii_group)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   775
        off += sprintf(buffer + off, "  Group: %s\n", slave->sii_group);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   776
    if (slave->sii_image)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   777
        off += sprintf(buffer + off, "  Image: %s\n", slave->sii_image);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   778
    if (slave->sii_order)
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 333
diff changeset
   779
        off += sprintf(buffer + off, "  Order number: %s\n", slave->sii_order);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   780
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   781
    if (slave->sii_sync_count)
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   782
        off += sprintf(buffer + off, "\nSync managers / PDO mapping:\n");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   783
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   784
    for (i = 0; i < slave->sii_sync_count; i++) {
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   785
        sync = &slave->sii_syncs[i];
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   786
        off += sprintf(buffer + off,
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   787
                "  SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n",
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   788
                sync->index, sync->physical_start_address,
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   789
                ec_sync_size(sync), sync->control_register,
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 613
diff changeset
   790
                sync->enable ? "enable" : "disable");
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   791
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   792
        if (list_empty(&sync->pdos))
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   793
            off += sprintf(buffer + off, "    No PDOs mapped.\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   794
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   795
        list_for_each_entry(pdo, &sync->pdos, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   796
            off += sprintf(buffer + off, "    %s 0x%04X \"%s\"\n",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   797
                    pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   798
                    pdo->index, pdo->name ? pdo->name : "???");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   799
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   800
            list_for_each_entry(pdo_entry, &pdo->entries, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   801
                off += sprintf(buffer + off,
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   802
                        "      0x%04X:%X \"%s\", %i bit\n",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   803
                        pdo_entry->index, pdo_entry->subindex,
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   804
                        pdo_entry->name ? pdo_entry->name : "???",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   805
                        pdo_entry->bit_length);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   806
            }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   807
        }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   808
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   809
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   810
    if (!list_empty(&slave->sii_pdos))
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   811
        off += sprintf(buffer + off, "\nAvailable PDOs:\n");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   812
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   813
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   814
        off += sprintf(buffer + off, "  %s 0x%04X \"%s\"",
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   815
                       pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   816
                       pdo->index, pdo->name ? pdo->name : "???");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   817
        if (pdo->sync_index >= 0)
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   818
            off += sprintf(buffer + off, ", default mapping: SM%u.\n",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   819
                    pdo->sync_index);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   820
        else
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   821
            off += sprintf(buffer + off, ", no default mapping.\n");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   822
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
   823
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   824
            off += sprintf(buffer + off, "    0x%04X:%X \"%s\", %i bit\n",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
   825
                           pdo_entry->index, pdo_entry->subindex,
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   826
                           pdo_entry->name ? pdo_entry->name : "???",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   827
                           pdo_entry->bit_length);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   828
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   829
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   830
464
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   831
    if (!list_empty(&slave->sdo_confs))
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   832
        off += sprintf(buffer + off, "\nSDO configurations:\n");
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   833
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   834
    list_for_each_entry(sdodata, &slave->sdo_confs, list) {
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   835
        switch (sdodata->size) {
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   836
            case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   837
            case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   838
            case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   839
            default: sprintf(str, "(invalid size)"); break;
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   840
        }
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   841
        off += sprintf(buffer + off, "  0x%04X:%-3i -> %s\n",
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   842
                       sdodata->index, sdodata->subindex, str);
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   843
    }
6c21a8d8c785 SDO configurations in Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   844
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   845
    off += sprintf(buffer + off, "\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   846
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   847
    return off;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   848
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   849
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   850
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
   851
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 132
diff changeset
   852
/**
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   853
 * Schedules an EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   854
 * \return 0 case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   855
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   856
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   857
int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   858
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   859
    ec_master_t *master = request->slave->master;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   860
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   861
    request->state = EC_REQUEST_QUEUED;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   862
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   863
    // schedule EEPROM write request.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   864
    down(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   865
    list_add_tail(&request->list, &master->eeprom_requests);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   866
    up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   867
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   868
    // wait for processing through FSM
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   869
    if (wait_event_interruptible(master->eeprom_queue,
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   870
                request->state != EC_REQUEST_QUEUED)) {
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   871
        // interrupted by signal
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   872
        down(&master->eeprom_sem);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   873
        if (request->state == EC_REQUEST_QUEUED) {
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   874
            list_del(&request->list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   875
            up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   876
            return -EINTR;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   877
        }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   878
        // request already processing: interrupt not possible.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   879
        up(&master->eeprom_sem);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   880
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   881
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   882
    // wait until master FSM has finished processing
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   883
    wait_event(master->eeprom_queue,
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   884
            request->state != EC_REQUEST_IN_PROGRESS);
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   885
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   886
    return request->state == EC_REQUEST_COMPLETE ? 0 : -EIO;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   887
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   888
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   889
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   890
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   891
/**
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   892
 * Writes complete EEPROM contents to a slave.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   893
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   894
 */
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   895
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   896
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   897
        const uint8_t *data, /**< new EEPROM data */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   898
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   899
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   900
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   901
    ec_eeprom_write_request_t request;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   902
    const uint16_t *cat_header;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   903
    uint16_t cat_type, cat_size;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   904
    int ret;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   905
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   906
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
   907
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   908
        return -EBUSY;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   909
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   910
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   911
    if (size % 2) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   912
        EC_ERR("EEPROM data size is odd! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   913
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   914
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   915
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   916
    // init EEPROM write request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   917
    INIT_LIST_HEAD(&request.list);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   918
    request.slave = slave;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   919
    request.words = (const uint16_t *) data;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   920
    request.offset = 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   921
    request.size = size / 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   922
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   923
    if (request.size < 0x0041) {
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   924
        EC_ERR("EEPROM data too short! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   925
        return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   926
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   927
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 660
diff changeset
   928
    cat_header = request.words + EC_FIRST_EEPROM_CATEGORY_OFFSET;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   929
    cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   930
    while (cat_type != 0xFFFF) { // cycle through categories
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   931
        if (cat_header + 1 > request.words + request.size) {
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   932
            EC_ERR("EEPROM data corrupted! Dropping.\n");
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   933
            return -EINVAL;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   934
        }
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   935
        cat_size = EC_READ_U16(cat_header + 1);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   936
        if (cat_header + cat_size + 2 > request.words + request.size) {
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   937
            EC_ERR("EEPROM data corrupted! Dropping.\n");
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   938
            return -EINVAL;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   939
        }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   940
        cat_header += cat_size + 2;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   941
        cat_type = EC_READ_U16(cat_header);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   942
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 599
diff changeset
   943
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   944
    // EEPROM data ok. schedule writing.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   945
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   946
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   947
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   948
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   949
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   950
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   951
/*****************************************************************************/
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   952
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   953
/**
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   954
 * Writes the Secondary slave address (alias) to the slave's EEPROM.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   955
 * \return data size written in case of success, otherwise error code.
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   956
 */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   957
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   958
ssize_t ec_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   959
        const uint8_t *data, /**< alias string */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   960
        size_t size /**< size of data in bytes */
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   961
        )
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   962
{
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   963
    ec_eeprom_write_request_t request;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   964
    char *remainder;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   965
    uint16_t alias, word;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   966
    int ret;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   967
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   968
    if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   969
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   970
        return -EBUSY;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   971
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   972
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   973
    alias = simple_strtoul(data, &remainder, 0);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   974
    if (remainder == (char *) data || (*remainder && *remainder != '\n')) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   975
        EC_ERR("Invalid alias value! Dropping.\n");
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   976
        return -EINVAL;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   977
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   978
    
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   979
    // correct endianess
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   980
    EC_WRITE_U16(&word, alias);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   981
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   982
    // init EEPROM write request
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   983
    INIT_LIST_HEAD(&request.list);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   984
    request.slave = slave;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   985
    request.words = &word;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   986
    request.offset = 0x0004;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   987
    request.size = 1;
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   988
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   989
    if ((ret = ec_slave_schedule_eeprom_writing(&request)))
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   990
        return ret; // error code
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   991
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   992
    slave->sii_alias = alias; // FIXME: do this in state machine
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   993
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   994
    return size; // success
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   995
}
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
   996
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   997
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   998
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   999
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1000
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1001
   Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1002
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1003
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1004
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1005
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1006
                                struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1007
                                char *buffer /**< memory to store data */
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1008
                                )
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1009
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1010
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1011
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1012
    if (attr == &attr_info) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 320
diff changeset
  1013
        return ec_slave_info(slave, buffer);
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1014
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1015
    else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1016
        switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1017
            case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1018
                return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1019
            case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1020
                return sprintf(buffer, "PREOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1021
            case EC_SLAVE_STATE_SAVEOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1022
                return sprintf(buffer, "SAVEOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1023
            case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1024
                return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1025
            default:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1026
                return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1027
        }
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1028
    }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1029
    else if (attr == &attr_eeprom) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1030
        if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1031
            if (slave->eeprom_size > PAGE_SIZE) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1032
                EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1033
                       slave->ring_position, slave->eeprom_size,
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1034
                       (int) PAGE_SIZE);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1035
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1036
            else {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1037
                memcpy(buffer, slave->eeprom_data, slave->eeprom_size);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1038
                return slave->eeprom_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1039
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1040
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1041
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1042
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1043
        return sprintf(buffer, "%u\n", slave->sii_alias);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1044
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1045
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1046
    return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1047
}
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1048
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1049
/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1050
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1051
/**
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1052
   Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1053
   \return number of bytes processed, or negative error code
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1054
*/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1055
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1056
ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1057
                                 struct attribute *attr, /**< attribute */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1058
                                 const char *buffer, /**< memory with data */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1059
                                 size_t size /**< size of data to store */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1060
                                 )
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1061
{
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1062
    ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1063
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1064
    if (attr == &attr_state) {
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 400
diff changeset
  1065
        char state[EC_STATE_STRING_SIZE];
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1066
        if (!strcmp(buffer, "INIT\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1067
            ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1068
        else if (!strcmp(buffer, "PREOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1069
            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1070
        else if (!strcmp(buffer, "SAVEOP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1071
            ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1072
        else if (!strcmp(buffer, "OP\n"))
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 423
diff changeset
  1073
            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1074
        else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1075
            EC_ERR("Invalid slave state \"%s\"!\n", buffer);
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1076
            return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1077
        }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1078
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1079
        ec_state_string(slave->requested_state, state);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1080
        EC_INFO("Accepted new state %s for slave %i.\n",
333
2b15335f9f35 Minor fix: Output of SysFS accepting new slave state.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1081
                state, slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1082
        return size;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1083
    }
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1084
    else if (attr == &attr_eeprom) {
599
a6ce861a167e ec_slave_write_eeprom now returns certain error codes.
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
  1085
        return ec_slave_write_eeprom(slave, buffer, size);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1086
    }
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1087
    else if (attr == &attr_alias) {
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1088
        return ec_slave_write_alias(slave, buffer, size);
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1089
    }
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1090
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 606
diff changeset
  1091
    return -EIO;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1092
}
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1093
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1094
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1095
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1096
/**
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1097
 */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1098
626
a5e838c30733 Renamed ec_sii_sync_t to ec_sync_t.
Florian Pose <fp@igh-essen.com>
parents: 625
diff changeset
  1099
ec_sync_t *ec_slave_get_pdo_sync(
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1100
        ec_slave_t *slave, /**< EtherCAT slave */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1101
        ec_direction_t dir /**< input or output */
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1102
        )
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1103
{
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1104
    unsigned int sync_index;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1105
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1106
    if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1107
        EC_ERR("Invalid direction!\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1108
        return NULL;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1109
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1110
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1111
    sync_index = (unsigned int) dir;
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1112
    if (slave->sii_mailbox_protocols) sync_index += 2;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1113
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1114
    if (sync_index >= slave->sii_sync_count)
619
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1115
        return NULL;
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1116
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1117
    return &slave->sii_syncs[sync_index];
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1118
}
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1119
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1120
/*****************************************************************************/
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1121
15becb1879fd Introduced ec_slave_get_pdo_sync().
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
  1122
/**
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1123
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1124
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1125
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1126
int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1127
                      uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1128
                      uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1129
                      const uint8_t *data, /**< SDO data */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1130
                      size_t size /**< SDO size in bytes */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1131
                      )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1132
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1133
    ec_sdo_data_t *sdodata;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1134
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1135
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1136
        EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1137
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1138
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1139
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1140
    if (!(sdodata = (ec_sdo_data_t *)
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1141
          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1142
        EC_ERR("Failed to allocate memory for SDO configuration object!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1143
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1144
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1145
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1146
    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1147
        EC_ERR("Failed to allocate memory for SDO configuration data!\n");
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1148
        kfree(sdodata);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1149
        return -1;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1150
    }
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1151
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1152
    sdodata->index = sdo_index;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1153
    sdodata->subindex = sdo_subindex;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1154
    memcpy(sdodata->data, data, size);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1155
    sdodata->size = size;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1156
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1157
    list_add_tail(&sdodata->list, &slave->sdo_confs);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1158
    return 0;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1159
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1160
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1161
/*****************************************************************************/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1162
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1163
/**
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1164
   \return 0 in case of success, else < 0
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1165
*/
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1166
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1167
int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1168
                      uint32_t vendor_id, /**< vendor ID */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1169
                      uint32_t product_code /**< product code */
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1170
                      )
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1171
{
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1172
    if (vendor_id != slave->sii_vendor_id ||
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1173
        product_code != slave->sii_product_code) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1174
        EC_ERR("Invalid slave type at position %i:\n", slave->ring_position);
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1175
        EC_ERR("  Requested: 0x%08X 0x%08X\n", vendor_id, product_code);
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1176
        EC_ERR("      Found: 0x%08X 0x%08X\n",
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1177
                slave->sii_vendor_id, slave->sii_product_code);
410
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1178
        return -1;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1179
    }
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1180
    return 0;
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1181
}
3b8e94d623ab Added ec_slave_validate()
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1182
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1183
/*****************************************************************************/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1184
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1185
/**
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1186
   Counts the total number of SDOs and entries in the dictionary.
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1187
*/
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1188
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1189
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1190
                            unsigned int *sdo_count, /**< number of SDOs */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1191
                            unsigned int *entry_count /**< total number of
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1192
                                                         entries */
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1193
                            )
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1194
{
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1195
    unsigned int sdos = 0, entries = 0;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1196
    ec_sdo_t *sdo;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1197
    ec_sdo_entry_t *entry;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1198
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1199
    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
  1200
        sdos++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1201
        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
  1202
            entries++;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1203
        }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1204
    }
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1205
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1206
    *sdo_count = sdos;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1207
    *entry_count = entries;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1208
}
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 421
diff changeset
  1209
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1210
/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1211
 *  Realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1212
 *****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1213
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1214
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1215
   \return 0 in case of success, else < 0
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1216
   \ingroup RealtimeInterface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1217
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1218
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1219
int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1220
                         uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1221
                         uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1222
                         uint8_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1223
                         )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1224
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1225
    uint8_t data[1];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1226
    EC_WRITE_U8(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1227
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1228
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1229
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1230
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1231
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1232
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1233
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1234
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1235
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1236
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1237
int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1238
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1239
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1240
                          uint16_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1241
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1242
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1243
    uint8_t data[2];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1244
    EC_WRITE_U16(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1245
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1246
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1247
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1248
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1249
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1250
/**
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1251
   \return 0 in case of success, else < 0
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1252
   \ingroup RealtimeInterface
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1253
*/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1254
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1255
int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1256
                          uint16_t sdo_index, /**< SDO index */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1257
                          uint8_t sdo_subindex, /**< SDO subindex */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1258
                          uint32_t value /**< new SDO value */
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1259
                          )
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1260
{
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1261
    uint8_t data[4];
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1262
    EC_WRITE_U32(data, value);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1263
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1264
}
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1265
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1266
/*****************************************************************************/
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1267
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1268
void ecrt_slave_pdo_mapping_clear(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1269
        ec_slave_t *slave, /**< EtherCAT slave */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1270
        ec_direction_t dir /**< output/input */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1271
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1272
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1273
    ec_sync_t *sync;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1274
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1275
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1276
        EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1277
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1278
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1279
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1280
    if (!(sync = ec_slave_get_pdo_sync(slave, dir)))
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1281
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1282
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1283
    ec_sync_clear_pdos(sync);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1284
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1285
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1286
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1287
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1288
int ecrt_slave_pdo_mapping_add(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1289
        ec_slave_t *slave, /**< EtherCAT slave */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1290
        ec_direction_t dir, /**< input/output */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1291
        uint16_t pdo_index /**< Index of PDO mapping list */)
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1292
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1293
    ec_pdo_t *pdo;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1294
    ec_sync_t *sync;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1295
    unsigned int not_found = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1296
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1297
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1298
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1299
        return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1300
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1301
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1302
    // does the slave provide the PDO list?
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1303
    list_for_each_entry(pdo, &slave->sii_pdos, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1304
        if (pdo->index == pdo_index) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1305
            not_found = 0;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1306
            break;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1307
        }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1308
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1309
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1310
    if (not_found) {
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1311
        EC_ERR("Slave %u does not provide PDO 0x%04X!\n",
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1312
                slave->ring_position, pdo_index);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1313
        return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1314
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1315
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1316
    // check direction
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1317
    if ((pdo->type == EC_TX_PDO && dir == EC_DIR_OUTPUT) ||
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1318
            (pdo->type == EC_RX_PDO && dir == EC_DIR_INPUT)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1319
        EC_ERR("Invalid direction for PDO 0x%04X.\n", pdo_index);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1320
        return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1321
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1322
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1323
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1324
    if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1325
        EC_ERR("Failed to obtain sync manager for PDO mapping of slave %u!\n",
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1326
                slave->ring_position);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1327
        return -1;
660
582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
  1328
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1329
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1330
    return ec_sync_add_pdo(sync, pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1331
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1332
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1333
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1334
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1335
int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1336
        ec_direction_t dir, /**< input/output */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1337
        unsigned int num_args, /**< Number of following arguments */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1338
        ... /**< PDO indices to map */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1339
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1340
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1341
    va_list ap;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1342
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1343
    ecrt_slave_pdo_mapping_clear(slave, dir);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1344
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1345
    va_start(ap, num_args);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1346
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1347
    for (; num_args; num_args--) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1348
        if (ecrt_slave_pdo_mapping_add(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1349
                    slave, dir, (uint16_t) va_arg(ap, int))) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1350
            return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1351
        }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1352
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1353
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1354
    va_end(ap);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1355
    return 0;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1356
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1357
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1358
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1359
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1360
526
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1361
/** \cond */
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
  1362
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1363
EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1364
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1365
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1366
EXPORT_SYMBOL(ecrt_slave_pdo_mapping_clear);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1367
EXPORT_SYMBOL(ecrt_slave_pdo_mapping_add);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 632
diff changeset
  1368
EXPORT_SYMBOL(ecrt_slave_pdo_mapping);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1369
526
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1370
/** \endcond */
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1371
56522899acd1 Minor changes to slave.c
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1372
/*****************************************************************************/