author | Florian Pose <fp@igh-essen.com> |
Wed, 19 Jul 2006 13:18:35 +0000 | |
changeset 307 | ffec9aae50a5 |
parent 293 | 14aeb79aa992 |
permissions | -rw-r--r-- |
64 | 1 |
/****************************************************************************** |
2 |
* |
|
3 |
* $Id$ |
|
4 |
* |
|
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5 |
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 |
* |
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7 |
* This file is part of the IgH EtherCAT Master. |
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8 |
* |
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|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it |
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10 |
* and/or modify it under the terms of the GNU General Public License |
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11 |
* as published by the Free Software Foundation; either version 2 of the |
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12 |
* License, or (at your option) any later version. |
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13 |
* |
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GPLv2 License and enhanced Doxygen output.
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|
14 |
* The IgH EtherCAT Master is distributed in the hope that it will be |
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15 |
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 |
* GNU General Public License for more details. |
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18 |
* |
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|
19 |
* You should have received a copy of the GNU General Public License |
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20 |
* along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 |
* |
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23 |
* The right to use EtherCAT Technology is granted and comes free of |
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24 |
* charge under condition of compatibility of product made by |
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25 |
* Licensee. People intending to distribute/sell products based on the |
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26 |
* code, have to sign an agreement to guarantee that products using |
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27 |
* software based on IgH EtherCAT master stay compatible with the actual |
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28 |
* EtherCAT specification (which are released themselves as an open |
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29 |
* standard) as the (only) precondition to have the right to use EtherCAT |
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30 |
* Technology, IP and trade marks. |
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31 |
* |
64 | 32 |
*****************************************************************************/ |
33 |
||
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34 |
/** |
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35 |
\file |
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36 |
Canopen-over-EtherCAT functions. |
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37 |
*/ |
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38 |
|
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39 |
/*****************************************************************************/ |
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40 |
|
64 | 41 |
#include <linux/delay.h> |
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42 |
#include <linux/slab.h> |
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43 |
#include <linux/module.h> |
64 | 44 |
|
45 |
#include "master.h" |
|
145
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46 |
#include "mailbox.h" |
64 | 47 |
|
48 |
/*****************************************************************************/ |
|
49 |
||
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50 |
void ec_canopen_abort_msg(uint32_t); |
293
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51 |
int ec_slave_fetch_sdo_descriptions(ec_slave_t *, ec_datagram_t *); |
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52 |
int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_datagram_t *, |
279
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53 |
ec_sdo_t *, uint8_t); |
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54 |
|
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55 |
/*****************************************************************************/ |
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56 |
|
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57 |
/** |
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58 |
Reads 32 bit of a CANopen SDO in expedited mode. |
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59 |
\return 0 in case of success, else < 0 |
197
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60 |
*/ |
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61 |
|
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62 |
int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */ |
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63 |
uint16_t sdo_index, /**< SDO index */ |
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64 |
uint8_t sdo_subindex, /**< SDO subindex */ |
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65 |
uint8_t *target /**< 4-byte memory */ |
139 | 66 |
) |
67 |
{ |
|
293
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68 |
ec_datagram_t datagram; |
139 | 69 |
size_t rec_size; |
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70 |
uint8_t *data; |
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|
71 |
|
293
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72 |
ec_datagram_init(&datagram); |
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|
73 |
|
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|
74 |
if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6))) |
279
12f48c1cb143
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75 |
goto err; |
145
11a82e4fd31b
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76 |
|
139 | 77 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
78 |
EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer |
|
195
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|
79 |
| 0x2 << 5)); // initiate upload request |
139 | 80 |
EC_WRITE_U16(data + 3, sdo_index); |
81 |
EC_WRITE_U8 (data + 5, sdo_subindex); |
|
145
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|
82 |
|
293
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|
83 |
if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size))) |
279
12f48c1cb143
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|
84 |
goto err; |
139 | 85 |
|
86 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
|
195
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|
87 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
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|
88 |
EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n", |
139 | 89 |
sdo_index, sdo_subindex, slave->ring_position); |
90 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
|
279
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|
91 |
goto err; |
139 | 92 |
} |
93 |
||
94 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
|
195
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95 |
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response |
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|
96 |
EC_READ_U16(data + 3) != sdo_index || // index |
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|
97 |
EC_READ_U8 (data + 5) != sdo_subindex) { // subindex |
159
acb250c92896
Fixed invalid format string.
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diff
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|
98 |
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex); |
139 | 99 |
EC_ERR("Invalid SDO upload response at slave %i!\n", |
100 |
slave->ring_position); |
|
157
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Bugfix: Crash after failing to fetch SDO dictionary.
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diff
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|
101 |
ec_print_data(data, rec_size); |
279
12f48c1cb143
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|
102 |
goto err; |
139 | 103 |
} |
104 |
||
105 |
memcpy(target, data + 6, 4); |
|
279
12f48c1cb143
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|
106 |
|
293
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|
107 |
ec_datagram_clear(&datagram); |
279
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|
108 |
return 0; |
12f48c1cb143
Removed mbox_command out of slave.
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|
109 |
err: |
293
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Renamed command structure to datagram.
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|
110 |
ec_datagram_clear(&datagram); |
279
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|
111 |
return -1; |
139 | 112 |
} |
113 |
||
114 |
/*****************************************************************************/ |
|
115 |
||
116 |
/** |
|
195
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117 |
Writes a CANopen SDO using expedited mode. |
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Translated all comments and documentation to english language.
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175
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|
118 |
\return 0 in case of success, else < 0 |
197
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GPLv2 License and enhanced Doxygen output.
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parents:
195
diff
changeset
|
119 |
*/ |
195
674071846ee3
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parents:
175
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|
120 |
|
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|
121 |
int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */ |
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|
122 |
uint16_t sdo_index, /**< SDO index */ |
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|
123 |
uint8_t sdo_subindex, /**< SDO subindex */ |
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|
124 |
const uint8_t *sdo_data, /**< new value */ |
197
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|
125 |
size_t size /**< Data size in bytes (1 - 4) */ |
138
7e743a61a991
SDO-Schnittstelle verbessert.
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parents:
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diff
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|
126 |
) |
64 | 127 |
{ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
128 |
uint8_t *data; |
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:
113
diff
changeset
|
129 |
size_t rec_size; |
293
14aeb79aa992
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diff
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|
130 |
ec_datagram_t datagram; |
14aeb79aa992
Renamed command structure to datagram.
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parents:
286
diff
changeset
|
131 |
|
14aeb79aa992
Renamed command structure to datagram.
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286
diff
changeset
|
132 |
ec_datagram_init(&datagram); |
64 | 133 |
|
134 |
if (size == 0 || size > 4) { |
|
138
7e743a61a991
SDO-Schnittstelle verbessert.
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137
diff
changeset
|
135 |
EC_ERR("Invalid data size!\n"); |
279
12f48c1cb143
Removed mbox_command out of slave.
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diff
changeset
|
136 |
goto err; |
12f48c1cb143
Removed mbox_command out of slave.
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parents:
246
diff
changeset
|
137 |
} |
12f48c1cb143
Removed mbox_command out of slave.
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parents:
246
diff
changeset
|
138 |
|
293
14aeb79aa992
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parents:
286
diff
changeset
|
139 |
if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 0x0A))) |
279
12f48c1cb143
Removed mbox_command out of slave.
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parents:
246
diff
changeset
|
140 |
goto err; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
141 |
|
139 | 142 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
143 |
EC_WRITE_U8 (data + 2, (0x1 // size specified |
|
144 |
| 0x1 << 1 // expedited transfer |
|
145 |
| (4 - size) << 2 // data set size |
|
146 |
| 0x1 << 5)); // initiate download request |
|
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:
113
diff
changeset
|
147 |
EC_WRITE_U16(data + 3, sdo_index); |
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:
113
diff
changeset
|
148 |
EC_WRITE_U8 (data + 5, sdo_subindex); |
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
149 |
memcpy(data + 6, sdo_data, size); |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
150 |
if (size < 4) memset(data + 6 + size, 0x00, 4 - size); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
151 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
152 |
if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size))) |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
153 |
goto err; |
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:
113
diff
changeset
|
154 |
|
139 | 155 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
156 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
157 |
EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n", |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
158 |
sdo_index, sdo_subindex, size, slave->ring_position); |
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:
113
diff
changeset
|
159 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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:
113
diff
changeset
|
160 |
return -1; |
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:
113
diff
changeset
|
161 |
} |
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:
113
diff
changeset
|
162 |
|
139 | 163 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
164 |
EC_READ_U8 (data + 2) >> 5 != 0x3 || // download response |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
165 |
EC_READ_U16(data + 3) != sdo_index || // index |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
166 |
EC_READ_U8 (data + 5) != sdo_subindex) { // subindex |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
167 |
EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n", |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
168 |
sdo_index, sdo_subindex, size); |
111
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
169 |
EC_ERR("Invalid SDO download response at slave %i!\n", |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
170 |
slave->ring_position); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
171 |
ec_print_data(data, rec_size); |
64 | 172 |
return -1; |
173 |
} |
|
174 |
||
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
175 |
ec_datagram_clear(&datagram); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
176 |
return 0; |
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
177 |
err: |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
178 |
ec_datagram_clear(&datagram); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
179 |
return -1; |
64 | 180 |
} |
181 |
||
182 |
/*****************************************************************************/ |
|
183 |
||
80
8cd08d73b560
CANopen SDO read implementiert.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
184 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
185 |
Reads a CANopen SDO in normal mode. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
186 |
\return 0 in case of success, else < 0 |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
187 |
\ingroup RealtimeInterface |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
188 |
\todo Make size non-pointer. |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
189 |
*/ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
190 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
191 |
int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
192 |
uint16_t sdo_index, /**< SDO index */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
193 |
uint8_t sdo_subindex, /**< SDO subindex */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
194 |
uint8_t *target, /**< memory for value */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
195 |
size_t *size /**< target memory size */ |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
196 |
) |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
197 |
{ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
198 |
uint8_t *data; |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
199 |
size_t rec_size, data_size; |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
200 |
uint32_t complete_size; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
201 |
ec_datagram_t datagram; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
202 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
203 |
ec_datagram_init(&datagram); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
204 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
205 |
if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6))) |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
206 |
goto err; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
207 |
|
139 | 208 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
209 |
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request |
|
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
210 |
EC_WRITE_U16(data + 3, sdo_index); |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
211 |
EC_WRITE_U8 (data + 5, sdo_subindex); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
212 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
213 |
if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size))) |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
214 |
goto err; |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
215 |
|
139 | 216 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
217 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
218 |
EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n", |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
219 |
sdo_index, sdo_subindex, slave->ring_position); |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
220 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
221 |
goto err; |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
222 |
} |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
223 |
|
139 | 224 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
225 |
EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
226 |
EC_READ_U16(data + 3) != sdo_index || // index |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
227 |
EC_READ_U8 (data + 5) != sdo_subindex) { // subindex |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
228 |
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex); |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
229 |
EC_ERR("Invalid SDO upload response at slave %i!\n", |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
230 |
slave->ring_position); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
231 |
ec_print_data(data, rec_size); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
232 |
goto err; |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
233 |
} |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
234 |
|
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
235 |
if (rec_size < 10) { |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
236 |
EC_ERR("Received currupted SDO upload response!\n"); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
237 |
ec_print_data(data, rec_size); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
238 |
goto err; |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
239 |
} |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
240 |
|
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
241 |
if ((complete_size = EC_READ_U32(data + 6)) > *size) { |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
242 |
EC_ERR("SDO data does not fit into buffer (%i / %i)!\n", |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
243 |
complete_size, *size); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
244 |
goto err; |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
245 |
} |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
246 |
|
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
247 |
data_size = rec_size - 10; |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
248 |
|
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
249 |
if (data_size != complete_size) { |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
250 |
EC_ERR("SDO data incomplete - Fragmenting not implemented.\n"); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
251 |
goto err; |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
252 |
} |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
253 |
|
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
254 |
memcpy(target, data + 10, data_size); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
255 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
256 |
ec_datagram_clear(&datagram); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
257 |
return 0; |
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
258 |
err: |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
259 |
ec_datagram_clear(&datagram); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
260 |
return -1; |
137
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
261 |
} |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
262 |
|
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
263 |
/*****************************************************************************/ |
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
264 |
|
3fb18812871a
SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
265 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
266 |
Fetches the SDO dictionary of a slave. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
267 |
\return 0 in case of success, else < 0 |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
113
diff
changeset
|
268 |
*/ |
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:
113
diff
changeset
|
269 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
270 |
int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */) |
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:
113
diff
changeset
|
271 |
{ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
272 |
uint8_t *data; |
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:
113
diff
changeset
|
273 |
size_t rec_size; |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
274 |
unsigned int i, sdo_count; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
275 |
ec_sdo_t *sdo; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
276 |
uint16_t sdo_index; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
277 |
ec_datagram_t datagram; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
278 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
279 |
ec_datagram_init(&datagram); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
280 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
281 |
if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 8))) |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
282 |
goto err; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
283 |
|
139 | 284 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
285 |
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request |
|
286 |
EC_WRITE_U8 (data + 3, 0x00); |
|
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
287 |
EC_WRITE_U16(data + 4, 0x0000); |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
288 |
EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs! |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
289 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
290 |
if (unlikely(ec_master_simple_io(slave->master, &datagram))) { |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
291 |
EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
292 |
goto err; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
293 |
} |
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:
113
diff
changeset
|
294 |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
295 |
do { |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
296 |
if (!(data = ec_slave_mbox_simple_receive(slave, &datagram, |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
297 |
0x03, &rec_size))) |
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
298 |
goto err; |
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:
113
diff
changeset
|
299 |
|
139 | 300 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
301 |
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response |
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:
113
diff
changeset
|
302 |
EC_ERR("SDO information error response at slave %i!\n", |
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:
113
diff
changeset
|
303 |
slave->ring_position); |
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:
113
diff
changeset
|
304 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
305 |
goto err; |
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:
113
diff
changeset
|
306 |
} |
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:
113
diff
changeset
|
307 |
|
139 | 308 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
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:
113
diff
changeset
|
309 |
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response |
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:
113
diff
changeset
|
310 |
EC_ERR("Invalid SDO list response at slave %i!\n", |
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:
113
diff
changeset
|
311 |
slave->ring_position); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
312 |
ec_print_data(data, rec_size); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
313 |
goto err; |
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:
113
diff
changeset
|
314 |
} |
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:
113
diff
changeset
|
315 |
|
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:
113
diff
changeset
|
316 |
if (rec_size < 8) { |
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:
113
diff
changeset
|
317 |
EC_ERR("Invalid data size!\n"); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
318 |
ec_print_data(data, rec_size); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
319 |
goto err; |
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:
113
diff
changeset
|
320 |
} |
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:
113
diff
changeset
|
321 |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
322 |
sdo_count = (rec_size - 8) / 2; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
323 |
for (i = 0; i < sdo_count; i++) { |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
324 |
sdo_index = EC_READ_U16(data + 8 + i * 2); |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
325 |
if (!sdo_index) continue; // sometimes index is 0... ??? |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
326 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
327 |
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) { |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
328 |
EC_ERR("Failed to allocate memory for SDO!\n"); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
329 |
goto err; |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
330 |
} |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
331 |
|
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
332 |
// Initialize SDO object |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
333 |
sdo->index = sdo_index; |
175
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
334 |
//sdo->unkown = 0x0000; |
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
335 |
sdo->object_code = 0x00; |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
336 |
sdo->name = NULL; |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
337 |
INIT_LIST_HEAD(&sdo->entries); |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
338 |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
339 |
list_add_tail(&sdo->list, &slave->sdo_dictionary); |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
340 |
} |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
341 |
} |
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
342 |
while (EC_READ_U8(data + 2) & 0x80); |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
343 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
344 |
// Fetch all SDO descriptions |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
345 |
if (ec_slave_fetch_sdo_descriptions(slave, &datagram)) goto err; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
346 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
347 |
ec_datagram_clear(&datagram); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
348 |
return 0; |
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
349 |
err: |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
350 |
ec_datagram_clear(&datagram); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
351 |
return -1; |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
352 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
353 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
354 |
/*****************************************************************************/ |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
355 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
356 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
357 |
Fetches the SDO descriptions for the known SDOs. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
358 |
\return 0 in case of success, else < 0 |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
359 |
*/ |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
360 |
|
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
361 |
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave, /**< EtherCAT slave */ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
362 |
ec_datagram_t *datagram /**< datagram */ |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
363 |
) |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
364 |
{ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
365 |
uint8_t *data; |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
366 |
size_t rec_size, name_size; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
367 |
ec_sdo_t *sdo; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
368 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
369 |
list_for_each_entry(sdo, &slave->sdo_dictionary, list) { |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
370 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
371 |
return -1; |
139 | 372 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
373 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request |
|
374 |
EC_WRITE_U8 (data + 3, 0x00); |
|
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
375 |
EC_WRITE_U16(data + 4, 0x0000); |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
376 |
EC_WRITE_U16(data + 6, sdo->index); // SDO index |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
377 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
378 |
if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size))) |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
379 |
return -1; |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
380 |
|
139 | 381 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
382 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
383 |
EC_ERR("SDO information error response at slave %i while" |
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
384 |
" fetching SDO 0x%04X!\n", slave->ring_position, |
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
385 |
sdo->index); |
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
386 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
387 |
return -1; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
388 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
389 |
|
139 | 390 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
391 |
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
392 |
EC_READ_U16(data + 6) != sdo->index) { // SDO index |
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
393 |
EC_ERR("Invalid object description response at slave %i while" |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
394 |
" fetching SDO 0x%04X!\n", slave->ring_position, |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
395 |
sdo->index); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
396 |
ec_print_data(data, rec_size); |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
397 |
return -1; |
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
398 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
399 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
400 |
if (rec_size < 12) { |
80d493917205
Laden der SDO Dictionaries funktioniert.
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parents:
134
diff
changeset
|
401 |
EC_ERR("Invalid data size!\n"); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
402 |
ec_print_data(data, rec_size); |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
403 |
return -1; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
404 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
405 |
|
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
406 |
#if 0 |
175
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
407 |
EC_DBG("object desc response:\n"); |
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
408 |
ec_print_data(data, rec_size); |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
409 |
#endif |
175
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
410 |
|
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
411 |
//sdo->unknown = EC_READ_U16(data + 8); |
2e4b18203ade
Altered CoE "Get object description response" fields
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
412 |
sdo->object_code = EC_READ_U8(data + 11); |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
413 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
414 |
name_size = rec_size - 12; |
139 | 415 |
if (name_size) { |
416 |
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) { |
|
417 |
EC_ERR("Failed to allocate SDO name!\n"); |
|
418 |
return -1; |
|
419 |
} |
|
420 |
||
421 |
memcpy(sdo->name, data + 12, name_size); |
|
422 |
sdo->name[name_size] = 0; |
|
423 |
} |
|
424 |
||
425 |
if (EC_READ_U8(data + 2) & 0x80) { |
|
426 |
EC_ERR("Fragment follows (not implemented)!\n"); |
|
427 |
return -1; |
|
428 |
} |
|
429 |
||
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
430 |
// Fetch all entries (subindices) |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
431 |
if (ec_slave_fetch_sdo_entries(slave, datagram, sdo, |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
432 |
EC_READ_U8(data + 10))) |
139 | 433 |
return -1; |
434 |
} |
|
435 |
||
436 |
return 0; |
|
437 |
} |
|
438 |
||
439 |
/*****************************************************************************/ |
|
440 |
||
441 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
442 |
Fetches all entries (subindices) to an SDO. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
443 |
\return 0 in case of success, else < 0 |
139 | 444 |
*/ |
445 |
||
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
446 |
int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
447 |
ec_datagram_t *datagram, /**< datagram */ |
139 | 448 |
ec_sdo_t *sdo, /**< SDO */ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
449 |
uint8_t subindices /**< number of subindices */ |
139 | 450 |
) |
451 |
{ |
|
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
139
diff
changeset
|
452 |
uint8_t *data; |
139 | 453 |
size_t rec_size, data_size; |
454 |
uint8_t i; |
|
455 |
ec_sdo_entry_t *entry; |
|
456 |
||
457 |
for (i = 1; i <= subindices; i++) { |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
458 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
459 |
return -1; |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
460 |
|
139 | 461 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
462 |
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request |
|
463 |
EC_WRITE_U8 (data + 3, 0x00); |
|
464 |
EC_WRITE_U16(data + 4, 0x0000); |
|
465 |
EC_WRITE_U16(data + 6, sdo->index); // SDO index |
|
466 |
EC_WRITE_U8 (data + 8, i); // SDO subindex |
|
467 |
EC_WRITE_U8 (data + 9, 0x00); // value info (no values) |
|
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
468 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
469 |
if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size))) |
279
12f48c1cb143
Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
470 |
return -1; |
139 | 471 |
|
472 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
473 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
139 | 474 |
EC_ERR("SDO information error response at slave %i while" |
475 |
" fetching SDO entry 0x%04X:%i!\n", slave->ring_position, |
|
476 |
sdo->index, i); |
|
477 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
|
478 |
return -1; |
|
479 |
} |
|
480 |
||
481 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
482 |
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response |
139 | 483 |
EC_READ_U16(data + 6) != sdo->index || // SDO index |
484 |
EC_READ_U8(data + 8) != i) { // SDO subindex |
|
485 |
EC_ERR("Invalid entry description response at slave %i while" |
|
161
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
486 |
" fetching SDO entry 0x%04X:%i!\n", slave->ring_position, |
139 | 487 |
sdo->index, i); |
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
488 |
ec_print_data(data, rec_size); |
139 | 489 |
return -1; |
490 |
} |
|
491 |
||
492 |
if (rec_size < 16) { |
|
493 |
EC_ERR("Invalid data size!\n"); |
|
157
37c6dd0ff0b1
Bugfix: Crash after failing to fetch SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
145
diff
changeset
|
494 |
ec_print_data(data, rec_size); |
139 | 495 |
return -1; |
496 |
} |
|
497 |
||
498 |
if (!EC_READ_U16(data + 12)) // bit length = 0 |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
499 |
continue; |
139 | 500 |
|
501 |
data_size = rec_size - 16; |
|
502 |
||
503 |
if (!(entry = (ec_sdo_entry_t *) |
|
504 |
kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) { |
|
161
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
505 |
EC_ERR("Failed to allocate entry!\n"); |
139 | 506 |
return -1; |
507 |
} |
|
508 |
||
509 |
entry->subindex = i; |
|
510 |
entry->data_type = EC_READ_U16(data + 10); |
|
511 |
entry->bit_length = EC_READ_U16(data + 12); |
|
161
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
512 |
|
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
513 |
// memory for name string appended to entry |
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
514 |
entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t); |
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
515 |
|
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
516 |
memcpy(entry->name, data + 16, data_size); |
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
159
diff
changeset
|
517 |
entry->name[data_size] = 0; |
139 | 518 |
|
519 |
list_add_tail(&entry->list, &sdo->entries); |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
134
diff
changeset
|
520 |
} |
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:
113
diff
changeset
|
521 |
|
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:
113
diff
changeset
|
522 |
return 0; |
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:
113
diff
changeset
|
523 |
} |
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:
113
diff
changeset
|
524 |
|
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:
113
diff
changeset
|
525 |
/*****************************************************************************/ |
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:
113
diff
changeset
|
526 |
|
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:
113
diff
changeset
|
527 |
/** |
286
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
528 |
SDO abort messages. |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
529 |
The "abort SDO transfer request" supplies an abort code, |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
530 |
which can be translated to clear text. This table does |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
531 |
the mapping of the codes and messages. |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
532 |
*/ |
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:
113
diff
changeset
|
533 |
|
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
534 |
const ec_code_msg_t sdo_abort_messages[] = { |
111
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
535 |
{0x05030000, "Toggle bit not changed"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
536 |
{0x05040000, "SDO protocol timeout"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
537 |
{0x05040001, "Client/Server command specifier not valid or unknown"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
538 |
{0x05040005, "Out of memory"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
539 |
{0x06010000, "Unsupported access to an object"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
540 |
{0x06010001, "Attempt to read a write-only object"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
541 |
{0x06010002, "Attempt to write a read-only object"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
542 |
{0x06020000, "This object does not exist in the object directory"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
543 |
{0x06040041, "The object cannot be mapped into the PDO"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
544 |
{0x06040042, "The number and length of the objects to be mapped would" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
545 |
" exceed the PDO length"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
546 |
{0x06040043, "General parameter incompatibility reason"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
547 |
{0x06040047, "Gerneral internal incompatibility in device"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
548 |
{0x06060000, "Access failure due to a hardware error"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
549 |
{0x06070010, "Data type does not match, length of service parameter does" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
550 |
" not match"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
551 |
{0x06070012, "Data type does not match, length of service parameter too" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
552 |
" high"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
553 |
{0x06070013, "Data type does not match, length of service parameter too" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
554 |
" low"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
555 |
{0x06090011, "Subindex does not exist"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
556 |
{0x06090030, "Value range of parameter exceeded"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
557 |
{0x06090031, "Value of parameter written too high"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
558 |
{0x06090032, "Value of parameter written too low"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
559 |
{0x06090036, "Maximum value is less than minimum value"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
560 |
{0x08000000, "General error"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
561 |
{0x08000020, "Data cannot be transferred or stored to the application"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
562 |
{0x08000021, "Data cannot be transferred or stored to the application" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
563 |
" because of local control"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
564 |
{0x08000022, "Data cannot be transferred or stored to the application" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
565 |
" because of the present device state"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
566 |
{0x08000023, "Object dictionary dynamic generation fails or no object" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
567 |
" dictionary is present"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
568 |
{} |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
569 |
}; |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
570 |
|
286
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
571 |
/*****************************************************************************/ |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
572 |
|
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
573 |
/** |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
574 |
Outputs an SDO abort message. |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
575 |
*/ |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
576 |
|
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
577 |
void ec_canopen_abort_msg(uint32_t abort_code) |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
578 |
{ |
f3352378b4d4
Added missing documentation.
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parents:
279
diff
changeset
|
579 |
const ec_code_msg_t *abort_msg; |
f3352378b4d4
Added missing documentation.
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parents:
279
diff
changeset
|
580 |
|
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
581 |
for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) { |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
582 |
if (abort_msg->code == abort_code) { |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
583 |
EC_ERR("SDO abort message 0x%08X: \"%s\".\n", |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
584 |
abort_msg->code, abort_msg->message); |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
585 |
return; |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
586 |
} |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
587 |
} |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
588 |
|
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
589 |
EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code); |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
590 |
} |
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
279
diff
changeset
|
591 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
592 |
/****************************************************************************** |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
593 |
* Realtime interface |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
594 |
*****************************************************************************/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
595 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
596 |
/** |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
597 |
Reads an 8-bit SDO in expedited mode. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
598 |
See ec_slave_sdo_read_exp() |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
599 |
\return 0 in case of success, else < 0 |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
600 |
\ingroup RealtimeInterface |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
601 |
*/ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
602 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
603 |
int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
604 |
uint16_t sdo_index, /**< SDO index */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
605 |
uint8_t sdo_subindex, /**< SDO subindex */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
606 |
uint8_t *target /**< memory for read value */ |
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
607 |
) |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
608 |
{ |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
609 |
uint8_t data[4]; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
610 |
if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
611 |
*target = EC_READ_U8(data); |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
612 |
return 0; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
613 |
} |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
614 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
615 |
/*****************************************************************************/ |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
616 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
617 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
618 |
Reads a 16-bit SDO in expedited mode. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
619 |
See ec_slave_sdo_read_exp() |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
620 |
\return 0 in case of success, else < 0 |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
621 |
\ingroup RealtimeInterface |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
622 |
*/ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
623 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
624 |
int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
625 |
uint16_t sdo_index, /**< SDO index */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
626 |
uint8_t sdo_subindex, /**< SDO subindex */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
627 |
uint16_t *target /**< memory for read value */ |
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
628 |
) |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
629 |
{ |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
630 |
uint8_t data[4]; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
631 |
if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
632 |
*target = EC_READ_U16(data); |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
633 |
return 0; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
634 |
} |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
635 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
636 |
/*****************************************************************************/ |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
637 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
638 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
639 |
Reads a 32-bit SDO in expedited mode. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
640 |
See ec_slave_sdo_read_exp() |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
641 |
\return 0 in case of success, else < 0 |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
642 |
\ingroup RealtimeInterface |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
643 |
*/ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
644 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
645 |
int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
175
diff
changeset
|
646 |
uint16_t sdo_index, /**< SDO index */ |
674071846ee3
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parents:
175
diff
changeset
|
647 |
uint8_t sdo_subindex, /**< SDO subindex */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
175
diff
changeset
|
648 |
uint32_t *target /**< memory for read value */ |
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
649 |
) |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
650 |
{ |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
651 |
uint8_t data[4]; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
652 |
if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
653 |
*target = EC_READ_U32(data); |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
654 |
return 0; |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
655 |
} |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
656 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
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|
657 |
/*****************************************************************************/ |
7e743a61a991
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changeset
|
658 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
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|
659 |
/** |
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660 |
Writes an 8-bit SDO in expedited mode. |
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661 |
\return 0 in case of success, else < 0 |
199
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662 |
\ingroup RealtimeInterface |
197
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|
663 |
*/ |
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|
664 |
|
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|
665 |
int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */ |
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666 |
uint16_t sdo_index, /**< SDO index */ |
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667 |
uint8_t sdo_subindex, /**< SDO subindex */ |
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|
668 |
uint8_t value /**< new value */ |
138
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|
669 |
) |
7e743a61a991
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670 |
{ |
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|
671 |
return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1); |
7e743a61a991
SDO-Schnittstelle verbessert.
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|
672 |
} |
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SDO-Schnittstelle verbessert.
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|
673 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
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|
674 |
/*****************************************************************************/ |
7e743a61a991
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|
675 |
|
7e743a61a991
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|
676 |
/** |
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677 |
Writes a 16-bit SDO in expedited mode. |
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678 |
\return 0 in case of success, else < 0 |
199
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679 |
\ingroup RealtimeInterface |
197
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|
680 |
*/ |
195
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|
681 |
|
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|
682 |
int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */ |
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683 |
uint16_t sdo_index, /**< SDO index */ |
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|
684 |
uint8_t sdo_subindex, /**< SDO subindex */ |
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|
685 |
uint16_t value /**< new value */ |
138
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|
686 |
) |
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|
687 |
{ |
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|
688 |
uint8_t data[2]; |
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|
689 |
EC_WRITE_U16(data, value); |
7e743a61a991
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|
690 |
return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2); |
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|
691 |
} |
7e743a61a991
SDO-Schnittstelle verbessert.
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137
diff
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|
692 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
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|
693 |
/*****************************************************************************/ |
7e743a61a991
SDO-Schnittstelle verbessert.
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parents:
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diff
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|
694 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
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parents:
137
diff
changeset
|
695 |
/** |
195
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|
696 |
Writes a 32-bit SDO in expedited mode. |
674071846ee3
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|
697 |
\return 0 in case of success, else < 0 |
199
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|
698 |
\ingroup RealtimeInterface |
197
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195
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|
699 |
*/ |
195
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diff
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|
700 |
|
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|
701 |
int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */ |
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|
702 |
uint16_t sdo_index, /**< SDO index */ |
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|
703 |
uint8_t sdo_subindex, /**< SDO subindex */ |
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|
704 |
uint32_t value /**< new value */ |
138
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SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
705 |
) |
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
137
diff
changeset
|
706 |
{ |
7e743a61a991
SDO-Schnittstelle verbessert.
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parents:
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|
707 |
uint8_t data[4]; |
7e743a61a991
SDO-Schnittstelle verbessert.
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|
708 |
EC_WRITE_U32(data, value); |
7e743a61a991
SDO-Schnittstelle verbessert.
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diff
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|
709 |
return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4); |
7e743a61a991
SDO-Schnittstelle verbessert.
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|
710 |
} |
7e743a61a991
SDO-Schnittstelle verbessert.
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parents:
137
diff
changeset
|
711 |
|
7e743a61a991
SDO-Schnittstelle verbessert.
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parents:
137
diff
changeset
|
712 |
/*****************************************************************************/ |
7e743a61a991
SDO-Schnittstelle verbessert.
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parents:
137
diff
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|
713 |
|
199
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|
714 |
/** \cond */ |
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|
715 |
|
138
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|
716 |
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8); |
7e743a61a991
SDO-Schnittstelle verbessert.
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|
717 |
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16); |
7e743a61a991
SDO-Schnittstelle verbessert.
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|
718 |
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32); |
7e743a61a991
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|
719 |
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8); |
7e743a61a991
SDO-Schnittstelle verbessert.
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|
720 |
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16); |
7e743a61a991
SDO-Schnittstelle verbessert.
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|
721 |
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32); |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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101
diff
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|
722 |
EXPORT_SYMBOL(ecrt_slave_sdo_read); |
64 | 723 |
|
199
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|
724 |
/** \endcond */ |
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|
725 |
|
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|
726 |
/*****************************************************************************/ |