--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/slave.c	Tue Jan 17 18:28:15 2006 +0000
@@ -0,0 +1,200 @@
+/******************************************************************************
+ *
+ *  s l a v e . c
+ *
+ *  Methoden für einen EtherCAT-Slave.
+ *
+ *  $Id$
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+
+#include "globals.h"
+#include "slave.h"
+
+/*****************************************************************************/
+
+/**
+   EtherCAT-Slave-Konstruktor.
+
+   Initialisiert einen EtherCAT-Slave.
+
+   ACHTUNG! Dieser Konstruktor wird quasi nie aufgerufen. Bitte immer das
+   Makro ECAT_INIT_SLAVE() in ec_slave.h anpassen!
+
+   @param slave Zeiger auf den zu initialisierenden Slave
+*/
+
+void ec_slave_init(ec_slave_t *slave)
+{
+  slave->type = 0;
+  slave->revision = 0;
+  slave->build = 0;
+  slave->ring_position = 0;
+  slave->station_address = 0;
+  slave->vendor_id = 0;
+  slave->product_code = 0;
+  slave->revision_number = 0;
+  slave->serial_number = 0;
+  slave->desc = NULL;
+  slave->logical_address = 0;
+  slave->current_state = EC_SLAVE_STATE_UNKNOWN;
+  slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
+  slave->process_data = NULL;
+  slave->domain = 0;
+  slave->error_reported = 0;
+}
+
+/*****************************************************************************/
+
+#if 0
+/**
+   Liest einen bestimmten Kanal des Slaves als Integer-Wert.
+
+   Prüft zuerst, ob der entsprechende Slave eine
+   bekannte Beschreibung besitzt, ob dort eine
+   read()-Funktion hinterlegt ist und ob die angegebene
+   Kanalnummer gültig ist. Wenn ja, wird der dekodierte
+   Wert zurückgegeben, sonst ist der Wert 0.
+
+   @param slave EtherCAT-Slave
+   @param channel Kanalnummer
+
+   @return Gelesener Wert bzw. 0
+*/
+
+int EtherCAT_read_value(EtherCAT_slave_t *slave,
+                        unsigned int channel)
+{
+  if (unlikely(!slave->desc)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)"
+             " - Slave has no description.\n",
+             slave->station_address, (unsigned int) slave);
+      slave->error_reported = 1;
+    }
+    return 0;
+  }
+
+  if (unlikely(!slave->desc->read)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)"
+             " - Slave type (%s %s) has no read method.\n",
+             slave->station_address, (unsigned int) slave,
+             slave->desc->vendor_name, slave->desc->product_name);
+      slave->error_reported = 1;
+    }
+    return 0;
+  }
+
+  if (unlikely(channel >= slave->desc->channel_count)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Reading failed on slave %4X (addr %0X)"
+             " - Type (%s %s) has no channel %i.\n",
+             slave->station_address, (unsigned int) slave,
+             slave->desc->vendor_name, slave->desc->product_name,
+             channel);
+      slave->error_reported = 1;
+    }
+    return 0;
+  }
+
+  if (unlikely(!slave->process_data)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Reading failed on slave %4X (addr %0X)"
+             " - Slave does not belong to any process data object!\n",
+             slave->station_address, (unsigned int) slave);
+      slave->error_reported = 1;
+    }
+    return 0;
+  }
+
+  if (unlikely(slave->error_reported))
+    slave->error_reported = 0;
+
+  return slave->desc->read(slave->process_data, channel);
+}
+
+/*****************************************************************************/
+
+/**
+   Schreibt einen bestimmten Kanal des Slaves als Integer-Wert .
+
+   Prüft zuerst, ob der entsprechende Slave eine
+   bekannte Beschreibung besitzt, ob dort eine
+   write()-Funktion hinterlegt ist und ob die angegebene
+   Kanalnummer gültig ist. Wenn ja, wird der Wert entsprechend
+   kodiert und geschrieben.
+
+   @param slave EtherCAT-Slave
+   @param channel Kanalnummer
+   @param value Zu schreibender Wert
+*/
+
+void EtherCAT_write_value(EtherCAT_slave_t *slave,
+                          unsigned int channel,
+                          int value)
+{
+  if (unlikely(!slave->desc)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)"
+             " - Slave has no description.\n",
+             slave->station_address, (unsigned int) slave);
+      slave->error_reported = 1;
+    }
+    return;
+  }
+
+  if (unlikely(!slave->desc->write)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)"
+             " - Type (%s %s) has no write method.\n",
+             slave->station_address, (unsigned int) slave,
+             slave->desc->vendor_name, slave->desc->product_name);
+      slave->error_reported = 1;
+    }
+    return;
+  }
+
+  if (unlikely(channel >= slave->desc->channel_count)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Writing failed on slave %4X (addr %0X)"
+             " - Type (%s %s) has no channel %i.\n",
+             slave->station_address, (unsigned int) slave,
+             slave->desc->vendor_name, slave->desc->product_name,
+             channel);
+      slave->error_reported = 1;
+    }
+    return;
+  }
+
+  if (unlikely(!slave->process_data)) {
+    if (likely(slave->error_reported)) {
+      printk(KERN_WARNING "EtherCAT: Writing failed on slave %4X (addr %0X)"
+             " - Slave does not belong to any process data object!\n",
+             slave->station_address, (unsigned int) slave);
+      slave->error_reported = 1;
+    }
+    return;
+  }
+
+  if (unlikely(slave->error_reported))
+    slave->error_reported = 0;
+
+  slave->desc->write(slave->process_data, channel, value);
+}
+
+/*****************************************************************************/
+
+EXPORT_SYMBOL(EtherCAT_write_value);
+EXPORT_SYMBOL(EtherCAT_read_value);
+#endif
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:2 ***
+;;; End: ***
+*/