master/slave.c
author Florian Pose <fp@igh-essen.com>
Tue, 01 Aug 2006 18:37:55 +0000
changeset 322 fceb7b6e0a06
parent 320 71d559ec66d7
child 325 7833cf70c4f2
permissions -rw-r--r--
Improved EoE state machine.
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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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int ec_slave_fetch_categories(ec_slave_t *);
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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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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(ring_position);
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EC_SYSFS_READ_ATTR(advanced_position);
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EC_SYSFS_READ_ATTR(vendor_name); // deprecated
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EC_SYSFS_READ_ATTR(product_name); // deprecated
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EC_SYSFS_READ_ATTR(product_desc); // deprecated
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EC_SYSFS_READ_ATTR(name);
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EC_SYSFS_READ_ATTR(type); // deprecated
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EC_SYSFS_READ_WRITE_ATTR(state);
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EC_SYSFS_READ_WRITE_ATTR(eeprom);
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static struct attribute *def_attrs[] = {
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    &attr_ring_position,
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    &attr_advanced_position,
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    &attr_vendor_name,
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    &attr_product_name,
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    &attr_product_desc,
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    &attr_name,
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    &attr_type,
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    &attr_state,
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    &attr_eeprom,
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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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/** \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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    // init kobject and add it to the hierarchy
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    memset(&slave->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&slave->kobj);
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    slave->kobj.ktype = &ktype_ec_slave;
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    slave->kobj.parent = &master->kobj;
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    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
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        EC_ERR("Failed to set kobject name.\n");
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        kobject_put(&slave->kobj);
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        return -1;
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    }
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    slave->master = master;
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    slave->coupler_index = 0;
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    slave->coupler_subindex = 0xFFFF;
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    slave->base_type = 0;
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   133
    slave->base_revision = 0;
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diff changeset
   134
    slave->base_build = 0;
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diff changeset
   135
    slave->base_fmmu_count = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   136
    slave->base_sync_count = 0;
114
e4b4b5a85e75 Slave alias implementiert.
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diff changeset
   137
    slave->sii_alias = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   138
    slave->sii_vendor_id = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   139
    slave->sii_product_code = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   140
    slave->sii_revision_number = 0;
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diff changeset
   141
    slave->sii_serial_number = 0;
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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diff changeset
   142
    slave->sii_rx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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diff changeset
   143
    slave->sii_rx_mailbox_size = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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diff changeset
   144
    slave->sii_tx_mailbox_offset = 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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diff changeset
   145
    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>
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diff changeset
   146
    slave->sii_mailbox_protocols = 0;
73
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   147
    slave->type = NULL;
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   148
    slave->registered = 0;
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   149
    slave->fmmu_count = 0;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
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   150
    slave->eeprom_data = NULL;
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diff changeset
   151
    slave->eeprom_size = 0;
264
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
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diff changeset
   152
    slave->eeprom_group = NULL;
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diff changeset
   153
    slave->eeprom_image = NULL;
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diff changeset
   154
    slave->eeprom_order = NULL;
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   155
    slave->eeprom_name = NULL;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   156
    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
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diff changeset
   157
    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
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diff changeset
   158
    slave->error_flag = 0;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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   159
    slave->online = 1;
269
a03be9a6fed6 EEPROM writing via SysFS.
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   160
    slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS.
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diff changeset
   161
    slave->new_eeprom_size = 0;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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diff changeset
   162
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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   163
    INIT_LIST_HEAD(&slave->eeprom_strings);
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   164
    INIT_LIST_HEAD(&slave->eeprom_syncs);
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   165
    INIT_LIST_HEAD(&slave->eeprom_pdos);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   166
    INIT_LIST_HEAD(&slave->sdo_dictionary);
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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   167
    INIT_LIST_HEAD(&slave->varsize_fields);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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diff changeset
   168
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
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   169
    for (i = 0; i < 4; i++) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
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   170
        slave->dl_link[i] = 0;
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
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   171
        slave->dl_loop[i] = 0;
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diff changeset
   172
        slave->dl_signal[i] = 0;
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
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diff changeset
   173
        slave->sii_physical_layer[i] = 0xFF;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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diff changeset
   174
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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   175
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   176
    return 0;
73
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   177
}
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   179
/*****************************************************************************/
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   181
/**
195
674071846ee3 Translated all comments and documentation to english language.
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   182
   Slave destructor.
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   183
*/
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   184
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   185
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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   186
{
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   187
    ec_slave_t *slave;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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   188
    ec_eeprom_string_t *string, *next_str;
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   189
    ec_eeprom_sync_t *sync, *next_sync;
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   190
    ec_eeprom_pdo_t *pdo, *next_pdo;
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   191
    ec_eeprom_pdo_entry_t *entry, *next_ent;
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
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   192
    ec_sdo_t *sdo, *next_sdo;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
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   193
    ec_sdo_entry_t *en, *next_en;
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   194
    ec_varsize_t *var, *next_var;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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parents: 114
diff changeset
   195
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
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   196
    slave = container_of(kobj, ec_slave_t, kobj);
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diff changeset
   197
195
674071846ee3 Translated all comments and documentation to english language.
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   198
    // free all string objects
126
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diff changeset
   199
    list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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diff changeset
   200
        list_del(&string->list);
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diff changeset
   201
        kfree(string);
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diff changeset
   202
    }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   203
195
674071846ee3 Translated all comments and documentation to english language.
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   204
    // free all sync managers
126
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diff changeset
   205
    list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {
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diff changeset
   206
        list_del(&sync->list);
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diff changeset
   207
        kfree(sync);
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diff changeset
   208
    }
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diff changeset
   209
195
674071846ee3 Translated all comments and documentation to english language.
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   210
    // free all PDOs
126
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diff changeset
   211
    list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {
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diff changeset
   212
        list_del(&pdo->list);
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diff changeset
   213
        if (pdo->name) kfree(pdo->name);
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diff changeset
   214
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   215
        // free all PDO entries
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
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diff changeset
   216
        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
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diff changeset
   217
            list_del(&entry->list);
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diff changeset
   218
            if (entry->name) kfree(entry->name);
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diff changeset
   219
            kfree(entry);
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diff changeset
   220
        }
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diff changeset
   221
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diff changeset
   222
        kfree(pdo);
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diff changeset
   223
    }
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diff changeset
   224
264
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
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diff changeset
   225
    if (slave->eeprom_group) kfree(slave->eeprom_group);
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
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parents: 260
diff changeset
   226
    if (slave->eeprom_image) kfree(slave->eeprom_image);
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
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parents: 260
diff changeset
   227
    if (slave->eeprom_order) kfree(slave->eeprom_order);
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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parents: 119
diff changeset
   228
    if (slave->eeprom_name) kfree(slave->eeprom_name);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   229
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   230
    // free all SDOs
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   231
    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
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diff changeset
   232
        list_del(&sdo->list);
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diff changeset
   233
        if (sdo->name) kfree(sdo->name);
161
ddb7266d1c56 Bugfix: Discovered memory leak.
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parents: 160
diff changeset
   234
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   235
        // free all SDO entries
139
998215ab9b92 Laden der SDO-Subindizes.
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diff changeset
   236
        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
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diff changeset
   237
            list_del(&en->list);
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diff changeset
   238
            kfree(en);
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diff changeset
   239
        }
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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diff changeset
   240
        kfree(sdo);
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diff changeset
   241
    }
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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parents: 144
diff changeset
   242
275
ba51285d4ef6 Variable-sized data fields, BK1120.
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parents: 269
diff changeset
   243
    // free information about variable sized data fields
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   244
    list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) {
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diff changeset
   245
        list_del(&var->list);
ba51285d4ef6 Variable-sized data fields, BK1120.
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parents: 269
diff changeset
   246
        kfree(var);
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   247
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
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diff changeset
   248
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
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parents: 264
diff changeset
   249
    if (slave->eeprom_data) kfree(slave->eeprom_data);
269
a03be9a6fed6 EEPROM writing via SysFS.
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parents: 266
diff changeset
   250
    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   251
}
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diff changeset
   252
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
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diff changeset
   253
/*****************************************************************************/
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/**
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   Reads all necessary information from a slave.
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   \return 0 in case of success, else < 0
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*/
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int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */)
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{
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    ec_datagram_t *datagram;
142
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    unsigned int i;
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    uint16_t dl_status;
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    datagram = &slave->master->simple_datagram;
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    // read base data
293
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    if (ec_datagram_nprd(datagram, slave->station_address, 0x0000, 6))
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        return -1;
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    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
142
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        EC_ERR("Reading base data from slave %i failed!\n",
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               slave->ring_position);
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        return -1;
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    }
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    slave->base_type =       EC_READ_U8 (datagram->data);
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    slave->base_revision =   EC_READ_U8 (datagram->data + 1);
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    slave->base_build =      EC_READ_U16(datagram->data + 2);
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    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
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    slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
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    if (slave->base_fmmu_count > EC_MAX_FMMUS)
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        slave->base_fmmu_count = EC_MAX_FMMUS;
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    // read data link status
293
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    if (ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2))
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        return -1;
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    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
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        EC_ERR("Reading DL status from slave %i failed!\n",
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               slave->ring_position);
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        return -1;
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    }
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293
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    dl_status = EC_READ_U16(datagram->data);
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    for (i = 0; i < 4; i++) {
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        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
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        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
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        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
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    }
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    // read EEPROM data
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    if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))
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        return -1;
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    if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))
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        return -1;
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    if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))
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        return -1;
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    if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))
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        return -1;
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    if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))
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        return -1;
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    if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))
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        return -1;
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   315
    if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))
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        return -1;
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   317
    if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))
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        return -1;
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   319
    if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))
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        return -1;
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   321
    if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))
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   322
        return -1;
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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diff changeset
   323
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
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diff changeset
   324
    if (unlikely(ec_slave_fetch_categories(slave))) {
136
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diff changeset
   325
        EC_ERR("Failed to fetch category data!\n");
118
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diff changeset
   326
        return -1;
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diff changeset
   327
    }
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   328
73
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   329
    return 0;
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diff changeset
   330
}
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/*****************************************************************************/
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   334
/**
195
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   335
   Reads 16 bit from the slave information interface (SII).
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   336
   \return 0 in case of success, else < 0
73
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diff changeset
   337
*/
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   338
136
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   339
int ec_slave_sii_read16(ec_slave_t *slave,
195
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   340
                        /**< EtherCAT slave */
136
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   341
                        uint16_t offset,
195
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diff changeset
   342
                        /**< address of the SII register to read */
136
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   343
                        uint16_t *target
195
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   344
                        /**< target memory */
136
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diff changeset
   345
                        )
73
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diff changeset
   346
{
293
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diff changeset
   347
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   348
    cycles_t start, end, timeout;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   349
293
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   350
    datagram = &slave->master->simple_datagram;
144
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   351
195
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diff changeset
   352
    // initiate read operation
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   353
    if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 6))
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   354
        return -1;
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   355
    EC_WRITE_U8 (datagram->data,     0x00); // read-only access
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   356
    EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   357
    EC_WRITE_U32(datagram->data + 2, offset);
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   358
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
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parents: 84
diff changeset
   359
        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   360
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   361
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   362
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 91
diff changeset
   363
    start = get_cycles();
119
b2de89096010 Verschiedene Timeouts verl?ngert.
Florian Pose <fp@igh-essen.com>
parents: 118
diff changeset
   364
    timeout = (cycles_t) 100 * cpu_khz; // 100ms
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 91
diff changeset
   365
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   366
    while (1)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff changeset
   367
    {
113
a3dbd6bc8fce Do-Schleifen ersetzt.
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diff changeset
   368
        udelay(10);
a3dbd6bc8fce Do-Schleifen ersetzt.
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diff changeset
   369
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   370
        if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 10))
14aeb79aa992 Renamed command structure to datagram.
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parents: 292
diff changeset
   371
            return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   372
        if (unlikely(ec_master_simple_io(slave->master, datagram))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
   373
            EC_ERR("Getting SII-read status failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   374
                   slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   375
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   376
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   377
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   378
        end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   379
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   380
        // check for "busy bit"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   381
        if (likely((EC_READ_U8(datagram->data + 1) & 0x81) == 0)) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   382
            *target = EC_READ_U16(datagram->data + 6);
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   383
            return 0;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   384
        }
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   385
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   386
        if (unlikely((end - start) >= timeout)) {
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   387
            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   388
            return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   389
        }
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   390
    }
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   391
}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   392
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   393
/*****************************************************************************/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   394
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   395
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   396
   Reads 32 bit from the slave information interface (SII).
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   397
   \return 0 in case of success, else < 0
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   398
*/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   399
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   400
int ec_slave_sii_read32(ec_slave_t *slave,
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   401
                        /**< EtherCAT slave */
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   402
                        uint16_t offset,
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   403
                        /**< address of the SII register to read */
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   404
                        uint32_t *target
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   405
                        /**< target memory */
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   406
                        )
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   407
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   408
    ec_datagram_t *datagram;
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   409
    cycles_t start, end, timeout;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   410
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   411
    datagram = &slave->master->simple_datagram;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   412
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   413
    // initiate read operation
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   414
    if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 6))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   415
        return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   416
    EC_WRITE_U8 (datagram->data,     0x00); // read-only access
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   417
    EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   418
    EC_WRITE_U32(datagram->data + 2, offset);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   419
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   420
        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   421
        return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   422
    }
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   423
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   424
    start = get_cycles();
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   425
    timeout = (cycles_t) 100 * cpu_khz; // 100ms
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   426
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   427
    while (1)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   428
    {
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   429
        udelay(10);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   430
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   431
        if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 10))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   432
            return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   433
        if (unlikely(ec_master_simple_io(slave->master, datagram))) {
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   434
            EC_ERR("Getting SII-read status failed on slave %i!\n",
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   435
                   slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   436
            return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   437
        }
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   438
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   439
        end = get_cycles();
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   440
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   441
        // check "busy bit"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   442
        if (likely((EC_READ_U8(datagram->data + 1) & 0x81) == 0)) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   443
            *target = EC_READ_U32(datagram->data + 6);
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   444
            return 0;
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   445
        }
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   446
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   447
        if (unlikely((end - start) >= timeout)) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   448
            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   449
            return -1;
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   450
        }
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   451
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   452
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   453
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   454
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   455
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   456
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   457
   Writes 16 bit of data to the slave information interface (SII).
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   458
   \return 0 in case of success, else < 0
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   459
*/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   460
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   461
int ec_slave_sii_write16(ec_slave_t *slave,
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   462
                         /**< EtherCAT slave */
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   463
                         uint16_t offset,
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   464
                         /**< address of the SII register to write */
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   465
                         uint16_t value
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   466
                         /**< new value */
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   467
                         )
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   468
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   469
    ec_datagram_t *datagram;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   470
    cycles_t start, end, timeout;
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   471
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   472
    datagram = &slave->master->simple_datagram;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   473
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   474
    EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   475
            slave->ring_position, offset, value);
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   476
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   477
    // initiate write operation
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   478
    if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 8))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   479
        return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   480
    EC_WRITE_U8 (datagram->data,     0x01); // enable write access
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   481
    EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   482
    EC_WRITE_U32(datagram->data + 2, offset);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   483
    EC_WRITE_U16(datagram->data + 6, value);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   484
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   485
        EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   486
        return -1;
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   487
    }
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   488
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   489
    start = get_cycles();
119
b2de89096010 Verschiedene Timeouts verl?ngert.
Florian Pose <fp@igh-essen.com>
parents: 118
diff changeset
   490
    timeout = (cycles_t) 100 * cpu_khz; // 100ms
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   491
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   492
    while (1)
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   493
    {
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   494
        udelay(10);
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   495
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   496
        if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 2))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   497
            return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   498
        if (unlikely(ec_master_simple_io(slave->master, datagram))) {
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   499
            EC_ERR("Getting SII-write status failed on slave %i!\n",
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   500
                   slave->ring_position);
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   501
            return -1;
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   502
        }
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   503
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   504
        end = get_cycles();
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   505
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   506
        // check "busy bit"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   507
        if (likely((EC_READ_U8(datagram->data + 1) & 0x82) == 0)) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   508
            if (EC_READ_U8(datagram->data + 1) & 0x40) {
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   509
                EC_ERR("SII-write failed!\n");
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   510
                return -1;
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   511
            }
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   512
            else {
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   513
                EC_INFO("SII-write succeeded!\n");
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   514
                return 0;
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   515
            }
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   516
        }
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   517
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   518
        if (unlikely((end - start) >= timeout)) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   519
            EC_ERR("SII-write: Slave %i timed out!\n", slave->ring_position);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   520
            return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   521
        }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   522
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   523
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   524
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   525
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   526
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   527
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   528
   Fetches data from slave's EEPROM.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   529
   \return 0 in case of success, else < 0
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
   530
   \todo memory allocation
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   531
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   532
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   533
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT slave */)
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   534
{
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   535
    uint16_t word_offset, cat_type, word_count;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   536
    uint32_t value;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   537
    uint8_t *cat_data;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   538
    unsigned int i;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   539
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   540
    word_offset = 0x0040;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   541
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   542
    if (!(cat_data = (uint8_t *) kmalloc(0x10000, GFP_ATOMIC))) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   543
        EC_ERR("Failed to allocate 64k bytes for category data.\n");
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   544
        return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   545
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   546
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   547
    while (1) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   548
        // read category type
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   549
        if (ec_slave_sii_read32(slave, word_offset, &value)) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   550
            EC_ERR("Unable to read category header.\n");
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   551
            goto out_free;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   552
        }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   553
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   554
        // last category?
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   555
        if ((value & 0xFFFF) == 0xFFFF) break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   556
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   557
        cat_type = value & 0x7FFF;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   558
        word_count = (value >> 16) & 0xFFFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   559
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   560
        // fetch category data
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   561
        for (i = 0; i < word_count; i++) {
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   562
            if (ec_slave_sii_read32(slave, word_offset + 2 + i, &value)) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   563
                EC_ERR("Unable to read category data word %i.\n", i);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   564
                goto out_free;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   565
            }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   566
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   567
            cat_data[i * 2]     = (value >> 0) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   568
            cat_data[i * 2 + 1] = (value >> 8) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   569
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   570
            // read second word "on the fly"
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   571
            if (i + 1 < word_count) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   572
                i++;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   573
                cat_data[i * 2]     = (value >> 16) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   574
                cat_data[i * 2 + 1] = (value >> 24) & 0xFF;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   575
            }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   576
        }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   577
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   578
        switch (cat_type)
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   579
        {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   580
            case 0x000A:
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   581
                if (ec_slave_fetch_strings(slave, cat_data))
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   582
                    goto out_free;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   583
                break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   584
            case 0x001E:
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   585
                if (ec_slave_fetch_general(slave, cat_data))
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   586
                    goto out_free;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   587
                break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   588
            case 0x0028:
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   589
                break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   590
            case 0x0029:
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   591
                if (ec_slave_fetch_sync(slave, cat_data, word_count))
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   592
                    goto out_free;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   593
                break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   594
            case 0x0032:
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   595
                if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_TX_PDO))
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   596
                    goto out_free;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   597
                break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   598
            case 0x0033:
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   599
                if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_RX_PDO))
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   600
                    goto out_free;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   601
                break;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   602
            default:
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   603
                EC_WARN("Unknown category type 0x%04X in slave %i.\n",
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   604
                        cat_type, slave->ring_position);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   605
        }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   606
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   607
        word_offset += 2 + word_count;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   608
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   609
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   610
    kfree(cat_data);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   611
    return 0;
123
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
 out_free:
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   614
    kfree(cat_data);
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   615
    return -1;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   616
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   617
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   618
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   619
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   620
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   621
   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
   622
   \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
   623
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   624
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   625
int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   626
                           const uint8_t *data /**< category data */
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   627
                           )
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   628
{
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   629
    unsigned int string_count, i;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   630
    size_t size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   631
    off_t offset;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   632
    ec_eeprom_string_t *string;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   633
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   634
    string_count = data[0];
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   635
    offset = 1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   636
    for (i = 0; i < string_count; i++) {
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   637
        size = data[offset];
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   638
        // allocate memory for string structure and data at a single blow
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   639
        if (!(string = (ec_eeprom_string_t *)
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   640
              kmalloc(sizeof(ec_eeprom_string_t) + size + 1, GFP_ATOMIC))) {
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   641
            EC_ERR("Failed to allocate string memory.\n");
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   642
            return -1;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   643
        }
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   644
        string->size = size;
161
ddb7266d1c56 Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents: 160
diff changeset
   645
        // string memory appended to string structure
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   646
        string->data = (char *) string + sizeof(ec_eeprom_string_t);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   647
        memcpy(string->data, data + offset + 1, size);
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   648
        string->data[size] = 0x00;
121
1cd6f7a47b72 Bugfix: Absturz behoben, EEPROM-Infos.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
   649
        list_add_tail(&string->list, &slave->eeprom_strings);
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   650
        offset += 1 + size;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   651
    }
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   652
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   653
    return 0;
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   654
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   655
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   656
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   657
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   658
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   659
   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
   660
   \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
   661
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   662
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   663
int ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   664
                           const uint8_t *data /**< category data */
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   665
                           )
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   666
{
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   667
    unsigned int i;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   668
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   669
    if (ec_slave_locate_string(slave, data[0], &slave->eeprom_group))
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   670
        return -1;
264
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   671
    if (ec_slave_locate_string(slave, data[1], &slave->eeprom_image))
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   672
        return -1;
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   673
    if (ec_slave_locate_string(slave, data[2], &slave->eeprom_order))
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   674
        return -1;
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   675
    if (ec_slave_locate_string(slave, data[3], &slave->eeprom_name))
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   676
        return -1;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   677
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   678
    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
   679
        slave->sii_physical_layer[i] =
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   680
            (data[4] & (0x03 << (i * 2))) >> (i * 2);
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   681
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   682
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   683
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   684
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   685
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   686
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   687
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   688
   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
   689
   \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
   690
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   691
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   692
int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   693
                        const uint8_t *data, /**< category data */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   694
                        size_t word_count /**< number of words */
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   695
                        )
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   696
{
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   697
    unsigned int sync_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   698
    ec_eeprom_sync_t *sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   699
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   700
    sync_count = word_count / 4; // sync manager struct is 4 words long
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   701
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   702
    for (i = 0; i < sync_count; i++, data += 8) {
127
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
parents: 126
diff changeset
   703
        if (!(sync = (ec_eeprom_sync_t *)
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   704
              kmalloc(sizeof(ec_eeprom_sync_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   705
            EC_ERR("Failed to allocate Sync-Manager memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   706
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   707
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   708
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   709
        sync->index = i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   710
        sync->physical_start_address = *((uint16_t *) (data + 0));
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   711
        sync->length                 = *((uint16_t *) (data + 2));
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   712
        sync->control_register       = data[4];
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   713
        sync->enable                 = data[6];
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   714
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   715
        list_add_tail(&sync->list, &slave->eeprom_syncs);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   716
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   717
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   718
    return 0;
118
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   719
}
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   720
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   721
/*****************************************************************************/
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   722
dc71ce4cc641 Kategorie-Daten aus EEPROM lesen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
   723
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   724
   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
   725
   \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
   726
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   727
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   728
int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   729
                       const uint8_t *data, /**< category data */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   730
                       size_t word_count, /**< number of words */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   731
                       ec_pdo_type_t pdo_type /**< PDO type */
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   732
                       )
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   733
{
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   734
    ec_eeprom_pdo_t *pdo;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   735
    ec_eeprom_pdo_entry_t *entry;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   736
    unsigned int entry_count, i;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   737
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   738
    while (word_count >= 4) {
127
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
parents: 126
diff changeset
   739
        if (!(pdo = (ec_eeprom_pdo_t *)
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   740
              kmalloc(sizeof(ec_eeprom_pdo_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   741
            EC_ERR("Failed to allocate PDO memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   742
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   743
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   744
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   745
        INIT_LIST_HEAD(&pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   746
        pdo->type = pdo_type;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   747
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   748
        pdo->index = *((uint16_t *) data);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   749
        entry_count = data[2];
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   750
        pdo->sync_manager = data[3];
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   751
        pdo->name = NULL;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   752
        ec_slave_locate_string(slave, data[5], &pdo->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   753
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   754
        list_add_tail(&pdo->list, &slave->eeprom_pdos);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   755
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   756
        word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   757
        data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   758
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   759
        for (i = 0; i < entry_count; i++) {
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   760
            if (!(entry = (ec_eeprom_pdo_entry_t *)
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   761
                  kmalloc(sizeof(ec_eeprom_pdo_entry_t), GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   762
                EC_ERR("Failed to allocate PDO entry memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   763
                return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   764
            }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   765
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   766
            entry->index = *((uint16_t *) data);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   767
            entry->subindex = data[2];
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   768
            entry->name = NULL;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   769
            ec_slave_locate_string(slave, data[3], &entry->name);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   770
            entry->bit_length = data[5];
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   771
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   772
            list_add_tail(&entry->list, &pdo->entries);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   773
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   774
            word_count -= 4;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   775
            data += 8;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   776
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   777
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   778
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   779
    return 0;
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   780
}
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   781
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   782
/*****************************************************************************/
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   783
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 113
diff changeset
   784
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   785
   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
   786
   \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
   787
   \todo documentation
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   788
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   789
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   790
int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   791
                           unsigned int index, /**< string index */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   792
                           char **ptr /**< Address of the string pointer */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   793
                           )
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   794
{
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   795
    ec_eeprom_string_t *string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   796
    char *err_string;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   797
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   798
    // Erst alten Speicher freigeben
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   799
    if (*ptr) {
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   800
        kfree(*ptr);
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   801
        *ptr = NULL;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   802
    }
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   803
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   804
    // Index 0 bedeutet "nicht belegt"
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   805
    if (!index) return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   806
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   807
    // EEPROM-String mit Index finden und kopieren
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   808
    list_for_each_entry(string, &slave->eeprom_strings, list) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   809
        if (--index) continue;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   810
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   811
        if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   812
            EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   813
            return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   814
        }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   815
        memcpy(*ptr, string->data, string->size + 1);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   816
        return 0;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   817
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   818
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   819
    EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   820
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   821
    err_string = "(string not found)";
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   822
296
967aaacf9b20 Avoided crashes on kernel 2.4 acc. to patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   823
    if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) {
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   824
        EC_ERR("Unable to allocate string memory.\n");
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   825
        return -1;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   826
    }
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   827
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
   828
    memcpy(*ptr, err_string, strlen(err_string) + 1);
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   829
    return 0;
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   830
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   831
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   832
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   833
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
   834
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   835
   Acknowledges an error after a state transition.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   836
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   837
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   838
void ec_slave_state_ack(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   839
                        uint8_t state /**< previous state */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   840
                        )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   841
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   842
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   843
    cycles_t start, end, timeout;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   844
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   845
    datagram = &slave->master->simple_datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   846
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   847
    if (ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2)) return;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   848
    EC_WRITE_U16(datagram->data, state | EC_ACK);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   849
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
163
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   850
        EC_WARN("Acknowledge sending failed on slave %i!\n",
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   851
                slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   852
        return;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   853
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   854
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   855
    start = get_cycles();
302
ad630f38cca1 Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   856
    timeout = (cycles_t) 100 * cpu_khz; // 100ms
ad630f38cca1 Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   857
ad630f38cca1 Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   858
    while (1) {
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   859
        udelay(100); // wait a little bit...
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   860
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   861
        if (ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2))
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   862
            return;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   863
        if (unlikely(ec_master_simple_io(slave->master, datagram))) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   864
            slave->current_state = EC_SLAVE_STATE_UNKNOWN;
163
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   865
            EC_WARN("Acknowledge checking failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   866
                    slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   867
            return;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   868
        }
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   869
163
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   870
        end = get_cycles();
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   871
302
ad630f38cca1 Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   872
        if (EC_READ_U8(datagram->data) == state) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   873
            slave->current_state = state;
163
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   874
            EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state,
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   875
                    slave->ring_position);
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   876
            return;
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   877
        }
a1eea08070e1 Fixed state acknowledgement.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   878
302
ad630f38cca1 Ack timeout 100ns in simple IO.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   879
        if (end - start >= timeout) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   880
            slave->current_state = EC_SLAVE_STATE_UNKNOWN;
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   881
            EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   882
                    " - Timeout!\n", state, slave->ring_position);
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   883
            return;
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   884
        }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   885
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   886
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   887
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   888
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   889
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   890
/**
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   891
   Reads the AL status code of a slave and displays it.
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   892
   If the AL status code is not supported, or if no error occurred (both
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   893
   resulting in code = 0), nothing is displayed.
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   894
*/
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   895
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   896
void ec_slave_read_al_status_code(ec_slave_t *slave /**< EtherCAT slave */)
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   897
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   898
    ec_datagram_t *datagram;
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   899
    uint16_t code;
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   900
    const ec_code_msg_t *al_msg;
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   901
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   902
    datagram = &slave->master->simple_datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   903
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   904
    if (ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2)) return;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   905
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   906
        EC_WARN("Failed to read AL status code on slave %i!\n",
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   907
                slave->ring_position);
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   908
        return;
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   909
    }
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   910
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   911
    if (!(code = EC_READ_U16(datagram->data))) return;
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   912
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   913
    for (al_msg = al_status_messages; al_msg->code; al_msg++) {
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   914
        if (al_msg->code == code) {
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   915
            EC_ERR("AL status message 0x%04X: \"%s\".\n",
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   916
                   al_msg->code, al_msg->message);
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   917
            return;
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   918
        }
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   919
    }
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   920
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   921
    EC_ERR("Unknown AL status code 0x%04X.\n", code);
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   922
}
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   923
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   924
/*****************************************************************************/
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   925
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   926
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   927
   Does a state transition.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   928
   \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
   929
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   930
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   931
int ec_slave_state_change(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   932
                          uint8_t state /**< new state */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   933
                          )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   934
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   935
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   936
    cycles_t start, end, timeout;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   937
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   938
    datagram = &slave->master->simple_datagram;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   939
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   940
    slave->requested_state = state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   941
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   942
    if (ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   943
        return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   944
    EC_WRITE_U16(datagram->data, state);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   945
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   946
        EC_ERR("Failed to set state 0x%02X on slave %i!\n",
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
   947
               state, slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   948
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   949
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   950
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   951
    start = get_cycles();
119
b2de89096010 Verschiedene Timeouts verl?ngert.
Florian Pose <fp@igh-essen.com>
parents: 118
diff changeset
   952
    timeout = (cycles_t) 10 * cpu_khz; // 10ms
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   953
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   954
    while (1)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   955
    {
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   956
        udelay(100); // wait a little bit
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   957
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   958
        if (ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   959
            return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   960
        if (unlikely(ec_master_simple_io(slave->master, datagram))) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   961
            slave->current_state = EC_SLAVE_STATE_UNKNOWN;
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   962
            EC_ERR("Failed to check state 0x%02X on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
   963
                   state, slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   964
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   965
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   966
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   967
        end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   968
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   969
        if (unlikely(EC_READ_U8(datagram->data) & 0x10)) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   970
            // state change error
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   971
            EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   972
                   " (code 0x%02X)!\n", state, slave->ring_position,
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   973
                   EC_READ_U8(datagram->data));
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   974
            slave->current_state = EC_READ_U8(datagram->data);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   975
            state = slave->current_state & 0x0F;
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   976
            ec_slave_read_al_status_code(slave);
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   977
            ec_slave_state_ack(slave, state);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   978
            return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   979
        }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   980
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   981
        if (likely(EC_READ_U8(datagram->data) == (state & 0x0F))) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   982
            slave->current_state = state;
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   983
            return 0; // state change successful
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   984
        }
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   985
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   986
        if (unlikely((end - start) >= timeout)) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 256
diff changeset
   987
            slave->current_state = EC_SLAVE_STATE_UNKNOWN;
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
   988
            EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   989
                   state, slave->ring_position);
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   990
            return -1;
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   991
        }
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   992
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   993
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   994
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   995
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   996
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   997
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   998
   Prepares an FMMU configuration.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
   999
   Configuration data for the FMMU is saved in the slave structure and is
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1000
   written to the slave in ecrt_master_activate().
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1001
   The FMMU configuration is done in a way, that the complete data range
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1002
   of the corresponding sync manager is covered. Seperate FMMUs arce configured
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1003
   for each domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1004
   If the FMMU configuration is already prepared, the function returns with
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1005
   success.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1006
   \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
  1007
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1008
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1009
int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1010
                          const ec_domain_t *domain, /**< domain */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1011
                          const ec_sync_t *sync  /**< sync manager */
160
7ddf8367196a Renamed slave_set_fmmu() to slave_prepare_fmmu().
Florian Pose <fp@igh-essen.com>
parents: 157
diff changeset
  1012
                          )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1013
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1014
    unsigned int i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1015
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1016
    // FMMU configuration already prepared?
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1017
    for (i = 0; i < slave->fmmu_count; i++)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1018
        if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1019
            return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1020
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1021
    // reserve new FMMU...
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
  1022
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1023
    if (slave->fmmu_count >= slave->base_fmmu_count) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1024
        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
  1025
        return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1026
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1027
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1028
    slave->fmmus[slave->fmmu_count].domain = domain;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1029
    slave->fmmus[slave->fmmu_count].sync = sync;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1030
    slave->fmmus[slave->fmmu_count].logical_start_address = 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1031
    slave->fmmu_count++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1032
    slave->registered = 1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1033
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1034
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1035
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1036
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1037
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1038
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1039
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1040
   Outputs all information about a certain slave.
140
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
  1041
   Verbosity:
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1042
   - 0: Only slave types and addresses
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1043
   - 1: with EEPROM information
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1044
   - >1: with SDO dictionaries
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1045
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1046
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1047
void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT slave */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1048
                    unsigned int verbosity /**< verbosity level */
140
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
  1049
                    )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1050
{
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
  1051
    ec_eeprom_sync_t *sync;
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
  1052
    ec_eeprom_pdo_t *pdo;
139
998215ab9b92 Laden der SDO-Subindizes.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
  1053
    ec_eeprom_pdo_entry_t *pdo_entry;
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1054
    ec_sdo_t *sdo;
139
998215ab9b92 Laden der SDO-Subindizes.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
  1055
    ec_sdo_entry_t *sdo_entry;
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1056
    int first, i;
126
bbc963b9fead Restliche EEPROM-Daten ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 124
diff changeset
  1057
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1058
    if (slave->type) {
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1059
        EC_INFO("%i) %s %s: %s\n", slave->ring_position,
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1060
                slave->type->vendor_name, slave->type->product_name,
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1061
                slave->type->description);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1062
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
  1063
    else {
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1064
        EC_INFO("%i) UNKNOWN SLAVE: vendor 0x%08X, product 0x%08X\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1065
                slave->ring_position, slave->sii_vendor_id,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1066
                slave->sii_product_code);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1067
    }
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1068
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1069
    if (!verbosity) return;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1070
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1071
    EC_INFO("  Station address: 0x%04X\n", slave->station_address);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1072
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1073
    EC_INFO("  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
  1074
    for (i = 0; i < 4; i++) {
190
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1075
        EC_INFO("    Port %i (", i);
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1076
        switch (slave->sii_physical_layer[i]) {
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1077
            case 0x00:
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1078
                printk("EBUS");
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1079
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1080
            case 0x01:
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1081
                printk("100BASE-TX");
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1082
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1083
            case 0x02:
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1084
                printk("100BASE-FX");
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1085
                break;
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1086
            default:
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1087
                printk("unknown");
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1088
        }
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1089
        printk(")\n");
4e32bcc6b361 Now fetching port physical layer from EEPROM
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1090
        EC_INFO("      link %s, loop %s, %s\n",
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1091
                slave->dl_link[i] ? "up" : "down",
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1092
                slave->dl_loop[i] ? "closed" : "open",
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1093
                slave->dl_signal[i] ? "signal detected" : "no signal");
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1094
    }
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1095
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1096
    EC_INFO("  Base information:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1097
    EC_INFO("    Type %u, revision %i, build %i\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1098
            slave->base_type, slave->base_revision, slave->base_build);
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1099
    EC_INFO("    Supported FMMUs: %i, sync managers: %i\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1100
            slave->base_fmmu_count, slave->base_sync_count);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1101
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1102
    if (slave->sii_mailbox_protocols) {
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1103
        EC_INFO("  Mailbox communication:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1104
        EC_INFO("    RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1105
                slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1106
                slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1107
        EC_INFO("    Supported protocols: ");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1108
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1109
        first = 1;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1110
        if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1111
            printk("AoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1112
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1113
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1114
        if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1115
            if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1116
            printk("EoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1117
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1118
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1119
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1120
            if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1121
            printk("CoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1122
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1123
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1124
        if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1125
            if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1126
            printk("FoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1127
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1128
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1129
        if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1130
            if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1131
            printk("SoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1132
            first = 0;
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1133
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1134
        if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1135
            if (!first) printk(", ");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1136
            printk("VoE");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1137
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1138
        printk("\n");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1139
    }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1140
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1141
    EC_INFO("  EEPROM data:\n");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1142
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1143
    EC_INFO("    EEPROM content size: %i Bytes\n", 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
  1144
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1145
    if (slave->sii_alias)
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1146
        EC_INFO("    Configured station alias: 0x%04X (%i)\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1147
                slave->sii_alias, slave->sii_alias);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1148
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1149
    EC_INFO("    Vendor-ID: 0x%08X, Product code: 0x%08X\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1150
            slave->sii_vendor_id, slave->sii_product_code);
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1151
    EC_INFO("    Revision number: 0x%08X, Serial number: 0x%08X\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1152
            slave->sii_revision_number, slave->sii_serial_number);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1153
264
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1154
    if (slave->eeprom_group)
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1155
        EC_INFO("    Group: %s\n", slave->eeprom_group);
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1156
    if (slave->eeprom_image)
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1157
        EC_INFO("    Image: %s\n", slave->eeprom_image);
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1158
    if (slave->eeprom_order)
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1159
        EC_INFO("    Order#: %s\n", slave->eeprom_order);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1160
    if (slave->eeprom_name)
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1161
        EC_INFO("    Name: %s\n", slave->eeprom_name);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1162
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1163
    if (!list_empty(&slave->eeprom_syncs)) {
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1164
        EC_INFO("    Sync-Managers:\n");
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1165
        list_for_each_entry(sync, &slave->eeprom_syncs, list) {
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1166
            EC_INFO("      %i: 0x%04X, length %i, control 0x%02X, %s\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1167
                    sync->index, sync->physical_start_address,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1168
                    sync->length, sync->control_register,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1169
                    sync->enable ? "enable" : "disable");
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1170
        }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1171
    }
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1172
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1173
    list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1174
        EC_INFO("    %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1175
                pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1176
                pdo->name ? pdo->name : "???",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1177
                pdo->index, pdo->sync_manager);
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1178
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1179
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1180
            EC_INFO("      \"%s\" 0x%04X:%X, %i Bit\n",
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1181
                    pdo_entry->name ? pdo_entry->name : "???",
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1182
                    pdo_entry->index, pdo_entry->subindex,
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 145
diff changeset
  1183
                    pdo_entry->bit_length);
140
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
  1184
        }
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
  1185
    }
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
  1186
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1187
    if (verbosity < 2) return;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1188
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1189
    if (!list_empty(&slave->sdo_dictionary)) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1190
        EC_INFO("    SDO-Dictionary:\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1191
        list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1192
            EC_INFO("      0x%04X \"%s\"\n", sdo->index,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1193
                    sdo->name ? sdo->name : "");
175
2e4b18203ade Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents: 164
diff changeset
  1194
            EC_INFO("        Object code: 0x%02X\n", sdo->object_code);
157
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1195
            list_for_each_entry(sdo_entry, &sdo->entries, list) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1196
                EC_INFO("        0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1197
                        sdo->index, sdo_entry->subindex,
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1198
                        sdo_entry->name ? sdo_entry->name : "",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 155
diff changeset
  1199
                        sdo_entry->data_type, sdo_entry->bit_length);
139
998215ab9b92 Laden der SDO-Subindizes.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
  1200
            }
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1201
        }
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1202
    }
123
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
  1203
}
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
  1204
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
  1205
/*****************************************************************************/
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
  1206
4d5dc58d48e2 Weitere EEPROM-Daten.
Florian Pose <fp@igh-essen.com>
parents: 122
diff changeset
  1207
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1208
   Outputs the values of the CRC faoult counters and resets them.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1209
   \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
  1210
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1211
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1212
int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1213
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1214
    ec_datagram_t *datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1215
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1216
    datagram = &slave->master->simple_datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1217
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1218
    if (ec_datagram_nprd(datagram, slave->station_address, 0x0300, 4))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1219
        return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1220
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
  1221
        EC_WARN("Reading CRC fault counters failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1222
                slave->ring_position);
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1223
        return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1224
    }
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1225
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1226
    if (!EC_READ_U32(datagram->data)) return 0; // no CRC faults
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1227
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1228
    if (EC_READ_U8(datagram->data))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1229
        EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1230
                EC_READ_U8(datagram->data),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1231
                EC_READ_U8(datagram->data) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1232
                slave->ring_position);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1233
    if (EC_READ_U8(datagram->data + 1))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1234
        EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1235
                EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1236
                EC_READ_U8(datagram->data + 1) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1237
                slave->ring_position);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1238
    if (EC_READ_U8(datagram->data + 2))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1239
        EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1240
                EC_READ_U8(datagram->data + 2),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1241
                EC_READ_U8(datagram->data + 2) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1242
                slave->ring_position);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1243
    if (EC_READ_U8(datagram->data + 3))
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1244
        EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1245
                EC_READ_U8(datagram->data + 3),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1246
                EC_READ_U8(datagram->data + 3) == 1 ? "" : "s",
132
63a5b40eb7da CRC-Counter nach ESC-Datasheet implementiert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
  1247
                slave->ring_position);
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1248
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1249
    // reset CRC counters
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1250
    if (ec_datagram_npwr(datagram, slave->station_address, 0x0300, 4))
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1251
        return -1;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1252
    EC_WRITE_U32(datagram->data, 0x00000000);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1253
    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
  1254
        EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1255
                slave->ring_position);
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1256
        return -1;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1257
    }
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1258
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1259
    return 0;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1260
}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1261
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1262
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1263
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
  1264
/**
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1265
   Schedules an EEPROM write operation.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1266
   \return 0 in case of success, else < 0
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1267
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1268
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1269
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1270
                              const uint8_t *data, /**< new EEPROM data */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1271
                              size_t size /**< size of data in bytes */
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1272
                              )
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1273
{
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1274
    uint16_t word_size, cat_type, cat_size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1275
    const uint16_t *data_words, *next_header;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1276
    uint16_t *new_data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1277
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1278
    if (!slave->master->eeprom_write_enable) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1279
        EC_ERR("Writing EEPROMs not allowed! Enable via"
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1280
               " eeprom_write_enable SysFS entry.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1281
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1282
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1283
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
  1284
    if (slave->master->mode != EC_MASTER_MODE_IDLE) {
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 302
diff changeset
  1285
        EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1286
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1287
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1288
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1289
    if (slave->new_eeprom_data) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1290
        EC_ERR("Slave %i already has a pending EEPROM write operation!\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1291
               slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1292
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1293
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1294
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1295
    // coarse check of the data
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1296
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1297
    if (size % 2) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1298
        EC_ERR("EEPROM size is odd! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1299
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1300
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1301
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1302
    data_words = (const uint16_t *) data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1303
    word_size = size / 2;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1304
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1305
    if (word_size < 0x0041) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1306
        EC_ERR("EEPROM data too short! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1307
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1308
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1309
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1310
    next_header = data_words + 0x0040;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1311
    cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1312
    while (cat_type != 0xFFFF) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1313
        cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1314
        cat_size = EC_READ_U16(next_header + 1);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1315
        if ((next_header + cat_size + 2) - data_words >= word_size) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1316
            EC_ERR("EEPROM data seems to be corrupted! Dropping.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1317
            return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1318
        }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1319
        next_header += cat_size + 2;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1320
        cat_type = EC_READ_U16(next_header);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1321
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1322
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1323
    // data ok!
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1324
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1325
    if (!(new_data = (uint16_t *) kmalloc(word_size * 2, GFP_KERNEL))) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1326
        EC_ERR("Unable to allocate memory for new EEPROM data!\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1327
        return -1;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1328
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1329
    memcpy(new_data, data, size);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1330
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1331
    slave->new_eeprom_size = word_size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1332
    slave->new_eeprom_data = new_data;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1333
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1334
    EC_INFO("EEPROM writing scheduled for slave %i, %i words.\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1335
            slave->ring_position, word_size);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1336
    return 0;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1337
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1338
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1339
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1340
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1341
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1342
   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
  1343
   \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
  1344
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1345
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1346
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
  1347
                                struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 190
diff changeset
  1348
                                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
  1349
                                )
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1350
{
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1351
    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
  1352
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1353
    if (attr == &attr_ring_position) {
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1354
        return sprintf(buffer, "%i\n", slave->ring_position);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1355
    }
315
119f967aead8 Renamed Sysfs attributes.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1356
    else if (attr == &attr_advanced_position) {
188
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 185
diff changeset
  1357
        return sprintf(buffer, "%i:%i\n", slave->coupler_index,
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 185
diff changeset
  1358
                       slave->coupler_subindex);
183
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1359
    }
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1360
    else if (attr == &attr_vendor_name) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1361
        if (slave->type)
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1362
            return sprintf(buffer, "%s\n", slave->type->vendor_name);
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1363
    }
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1364
    else if (attr == &attr_product_name) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1365
        if (slave->type)
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1366
            return sprintf(buffer, "%s\n", slave->type->product_name);
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1367
    }
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1368
    else if (attr == &attr_product_desc) {
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1369
        if (slave->type)
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1370
            return sprintf(buffer, "%s\n", slave->type->description);
8ae1e011e96c More slave fields in SysFS; DL link status for 4 ports
Florian Pose <fp@igh-essen.com>
parents: 182
diff changeset
  1371
    }
315
119f967aead8 Renamed Sysfs attributes.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1372
    else if (attr == &attr_name) {
264
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1373
        if (slave->eeprom_name)
76cba93ba122 Changed EEPROM string/property names and changed sii_desc property to sii_name.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
  1374
            return sprintf(buffer, "%s\n", slave->eeprom_name);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
  1375
    }
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1376
    else if (attr == &attr_type) {
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1377
        if (slave->type) {
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1378
            if (slave->type->special == EC_TYPE_BUS_COUPLER)
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1379
                return sprintf(buffer, "coupler\n");
290
57a4201cbb0f Introducing infrastructural slaves that do not contain process data.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
  1380
	    else if (slave->type->special == EC_TYPE_INFRA)
57a4201cbb0f Introducing infrastructural slaves that do not contain process data.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
  1381
                return sprintf(buffer, "infrastructure\n");
185
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1382
            else
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1383
                return sprintf(buffer, "normal\n");
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1384
        }
af570302dcee Slave (special) type in SysFS
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
  1385
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1386
    else if (attr == &attr_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1387
        switch (slave->current_state) {
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1388
            case EC_SLAVE_STATE_INIT:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1389
                return sprintf(buffer, "INIT\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1390
            case EC_SLAVE_STATE_PREOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1391
                return sprintf(buffer, "PREOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1392
            case EC_SLAVE_STATE_SAVEOP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1393
                return sprintf(buffer, "SAVEOP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1394
            case EC_SLAVE_STATE_OP:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1395
                return sprintf(buffer, "OP\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1396
            default:
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1397
                return sprintf(buffer, "UNKNOWN\n");
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1398
        }
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1399
    }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1400
    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
  1401
        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
  1402
            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
  1403
                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
  1404
                       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
  1405
                       (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
  1406
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1407
            else {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1408
                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
  1409
                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
  1410
            }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1411
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 264
diff changeset
  1412
    }
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1413
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1414
    return 0;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1415
}
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 175
diff changeset
  1416
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1417
/*****************************************************************************/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1418
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1419
/**
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1420
   Formats attribute data for SysFS write access.
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1421
   \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
  1422
*/
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1423
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1424
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
  1425
                                 struct attribute *attr, /**< attribute */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1426
                                 const char *buffer, /**< memory with data */
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1427
                                 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
  1428
                                 )
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1429
{
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1430
    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
  1431
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1432
    if (attr == &attr_state) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1433
        if (!strcmp(buffer, "INIT\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1434
            slave->requested_state = EC_SLAVE_STATE_INIT;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1435
        else if (!strcmp(buffer, "PREOP\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1436
            slave->requested_state = EC_SLAVE_STATE_PREOP;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1437
        else if (!strcmp(buffer, "SAVEOP\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1438
            slave->requested_state = EC_SLAVE_STATE_SAVEOP;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1439
        else if (!strcmp(buffer, "OP\n"))
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1440
            slave->requested_state = EC_SLAVE_STATE_OP;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1441
        else {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1442
            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
  1443
            return -EINVAL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1444
        }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1445
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1446
        EC_INFO("Accepted new state %s for slave %i.\n",
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1447
                buffer, slave->ring_position);
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1448
        slave->error_flag = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1449
        return size;
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1450
    }
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1451
    else if (attr == &attr_eeprom) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1452
        if (!ec_slave_write_eeprom(slave, buffer, size))
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1453
            return size;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1454
    }
256
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1455
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1456
    return -EINVAL;
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1457
}
dc71aee17f8a SysFS write access for slave state.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
  1458
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1459
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1460
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1461
/**
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1462
   \return size of sync manager contents
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1463
*/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1464
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1465
size_t ec_slave_calc_sync_size(const ec_slave_t *slave, /**< EtherCAT slave */
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1466
                               const ec_sync_t *sync /**< sync manager */
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1467
                               )
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1468
{
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1469
    unsigned int i, found;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1470
    const ec_field_t *field;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1471
    const ec_varsize_t *var;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1472
    size_t size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1473
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1474
    // if size is specified, return size
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1475
    if (sync->size) return sync->size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1476
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1477
    // sync manager has variable size (size == 0).
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1478
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1479
    size = 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1480
    for (i = 0; (field = sync->fields[i]); i++) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1481
        found = 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1482
        list_for_each_entry(var, &slave->varsize_fields, list) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1483
            if (var->field != field) continue;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1484
            size += var->size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1485
            found = 1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1486
        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1487
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1488
        if (!found) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1489
            EC_WARN("Variable data field \"%s\" of slave %i has no size"
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1490
                    " information!\n", field->name, slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1491
        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1492
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1493
    return size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1494
}
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1495
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1496
/*****************************************************************************/
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1497
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1498
/**
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1499
   Calculates the size of a sync manager by evaluating PDO sizes.
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1500
   \return sync manager size
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1501
*/
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1502
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1503
uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *slave,
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1504
                                        /**< EtherCAT slave */
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1505
                                        const ec_eeprom_sync_t *sync
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1506
                                        /**< sync manager */
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1507
                                        )
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1508
{
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1509
    ec_eeprom_pdo_t *pdo;
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1510
    ec_eeprom_pdo_entry_t *pdo_entry;
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1511
    unsigned int bit_size;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1512
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1513
    if (sync->length) return sync->length;
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1514
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1515
    bit_size = 0;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1516
    list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1517
        if (pdo->sync_manager != sync->index) continue;
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1518
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1519
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
320
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1520
            bit_size += pdo_entry->bit_length;
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1521
        }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1522
    }
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1523
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1524
    if (bit_size % 8) // round up to full bytes
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1525
        return bit_size / 8 + 1;
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1526
    else
71d559ec66d7 Fixed bug with bit-sized PDOs leading to wrong Sync-Manager sizes.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
  1527
        return bit_size / 8;
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1528
}
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 296
diff changeset
  1529
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1530
/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1531
 *  Realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1532
 *****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1533
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1534
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1535
   Writes the "configured station alias" to the slave's EEPROM.
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1536
   \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
  1537
   \ingroup RealtimeInterface
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1538
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1539
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1540
int ecrt_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1541
                           uint16_t alias /**< new alias */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1542
                           )
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1543
{
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1544
    return ec_slave_sii_write16(slave, 0x0004, alias);
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1545
}
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1546
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1547
/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1548
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1549
/**
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1550
   \return 0 in case of success, else < 0
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1551
   \ingroup RealtimeInterface
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1552
*/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1553
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1554
int ecrt_slave_field_size(ec_slave_t *slave, /**< EtherCAT slave */
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1555
                          const char *field_name, /**< data field name */
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1556
                          unsigned int field_index, /**< data field index */
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1557
                          size_t size /**< new data field size */
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1558
                          )
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1559
{
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1560
    unsigned int i, j, field_counter;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1561
    const ec_sync_t *sync;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1562
    const ec_field_t *field;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1563
    ec_varsize_t *var;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1564
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1565
    if (!slave->type) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1566
        EC_ERR("Slave %i has no type information!\n", slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1567
        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1568
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1569
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1570
    field_counter = 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1571
    for (i = 0; (sync = slave->type->sync_managers[i]); i++) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1572
        for (j = 0; (field = sync->fields[j]); j++) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1573
            if (!strcmp(field->name, field_name)) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1574
                if (field_counter++ == field_index) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1575
                    // is the size of this field variable?
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1576
                    if (field->size) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1577
                        EC_ERR("Field \"%s\"[%i] of slave %i has no variable"
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1578
                               " size!\n", field->name, field_index,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1579
                               slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1580
                        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1581
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1582
                    // does a size specification already exist?
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1583
                    list_for_each_entry(var, &slave->varsize_fields, list) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1584
                        if (var->field == field) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1585
                            EC_WARN("Resizing field \"%s\"[%i] of slave %i.\n",
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1586
                                    field->name, field_index,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1587
                                    slave->ring_position);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1588
                            var->size = size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1589
                            return 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1590
                        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1591
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1592
                    // create a new size specification...
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1593
                    if (!(var = kmalloc(sizeof(ec_varsize_t), GFP_KERNEL))) {
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1594
                        EC_ERR("Failed to allocate memory for varsize_t!\n");
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1595
                        return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1596
                    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1597
                    var->field = field;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1598
                    var->size = size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1599
                    list_add_tail(&var->list, &slave->varsize_fields);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1600
                    return 0;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1601
                }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1602
            }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1603
        }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1604
    }
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1605
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1606
    EC_ERR("Slave %i (\"%s %s\") has no field \"%s\"[%i]!\n",
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1607
           slave->ring_position, slave->type->vendor_name,
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1608
           slave->type->product_name, field_name, field_index);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1609
    return -1;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1610
}
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1611
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1612
/*****************************************************************************/
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1613
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1614
/**< \cond */
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 163
diff changeset
  1615
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1616
EXPORT_SYMBOL(ecrt_slave_write_alias);
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1617
EXPORT_SYMBOL(ecrt_slave_field_size);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1618
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1619
/**< \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1620
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1621
/*****************************************************************************/