--- a/master/canopen.c Thu Jul 13 13:10:57 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,726 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * The right to use EtherCAT Technology is granted and comes free of
- * charge under condition of compatibility of product made by
- * Licensee. People intending to distribute/sell products based on the
- * code, have to sign an agreement to guarantee that products using
- * software based on IgH EtherCAT master stay compatible with the actual
- * EtherCAT specification (which are released themselves as an open
- * standard) as the (only) precondition to have the right to use EtherCAT
- * Technology, IP and trade marks.
- *
- *****************************************************************************/
-
-/**
- \file
- Canopen-over-EtherCAT functions.
-*/
-
-/*****************************************************************************/
-
-#include <linux/delay.h>
-#include <linux/slab.h>
-#include <linux/module.h>
-
-#include "master.h"
-#include "mailbox.h"
-
-/*****************************************************************************/
-
-void ec_canopen_abort_msg(uint32_t);
-int ec_slave_fetch_sdo_descriptions(ec_slave_t *, ec_datagram_t *);
-int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_datagram_t *,
- ec_sdo_t *, uint8_t);
-
-/*****************************************************************************/
-
-/**
- Reads 32 bit of a CANopen SDO in expedited mode.
- \return 0 in case of success, else < 0
-*/
-
-int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint8_t *target /**< 4-byte memory */
- )
-{
- ec_datagram_t datagram;
- size_t rec_size;
- uint8_t *data;
-
- ec_datagram_init(&datagram);
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
- goto err;
-
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
- EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
- | 0x2 << 5)); // initiate upload request
- EC_WRITE_U16(data + 3, sdo_index);
- EC_WRITE_U8 (data + 5, sdo_subindex);
-
- if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
- goto err;
-
- if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
- sdo_index, sdo_subindex, slave->ring_position);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
- goto err;
- }
-
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
- EC_READ_U16(data + 3) != sdo_index || // index
- EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
- EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
- EC_ERR("Invalid SDO upload response at slave %i!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
- goto err;
- }
-
- memcpy(target, data + 6, 4);
-
- ec_datagram_clear(&datagram);
- return 0;
- err:
- ec_datagram_clear(&datagram);
- return -1;
-}
-
-/*****************************************************************************/
-
-/**
- Writes a CANopen SDO using expedited mode.
- \return 0 in case of success, else < 0
-*/
-
-int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- const uint8_t *sdo_data, /**< new value */
- size_t size /**< Data size in bytes (1 - 4) */
- )
-{
- uint8_t *data;
- size_t rec_size;
- ec_datagram_t datagram;
-
- ec_datagram_init(&datagram);
-
- if (size == 0 || size > 4) {
- EC_ERR("Invalid data size!\n");
- goto err;
- }
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 0x0A)))
- goto err;
-
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
- EC_WRITE_U8 (data + 2, (0x1 // size specified
- | 0x1 << 1 // expedited transfer
- | (4 - size) << 2 // data set size
- | 0x1 << 5)); // initiate download request
- EC_WRITE_U16(data + 3, sdo_index);
- EC_WRITE_U8 (data + 5, sdo_subindex);
- memcpy(data + 6, sdo_data, size);
- if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
-
- if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
- goto err;
-
- if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
- sdo_index, sdo_subindex, size, slave->ring_position);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
- return -1;
- }
-
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x3 || // download response
- EC_READ_U16(data + 3) != sdo_index || // index
- EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
- EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
- sdo_index, sdo_subindex, size);
- EC_ERR("Invalid SDO download response at slave %i!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
- return -1;
- }
-
- ec_datagram_clear(&datagram);
- return 0;
- err:
- ec_datagram_clear(&datagram);
- return -1;
-}
-
-/*****************************************************************************/
-
-/**
- Reads a CANopen SDO in normal mode.
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
- \todo Make size non-pointer.
-*/
-
-int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint8_t *target, /**< memory for value */
- size_t *size /**< target memory size */
- )
-{
- uint8_t *data;
- size_t rec_size, data_size;
- uint32_t complete_size;
- ec_datagram_t datagram;
-
- ec_datagram_init(&datagram);
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
- goto err;
-
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
- EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
- EC_WRITE_U16(data + 3, sdo_index);
- EC_WRITE_U8 (data + 5, sdo_subindex);
-
- if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
- goto err;
-
- if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
- sdo_index, sdo_subindex, slave->ring_position);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
- goto err;
- }
-
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
- EC_READ_U16(data + 3) != sdo_index || // index
- EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
- EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
- EC_ERR("Invalid SDO upload response at slave %i!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
- goto err;
- }
-
- if (rec_size < 10) {
- EC_ERR("Received currupted SDO upload response!\n");
- ec_print_data(data, rec_size);
- goto err;
- }
-
- if ((complete_size = EC_READ_U32(data + 6)) > *size) {
- EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
- complete_size, *size);
- goto err;
- }
-
- data_size = rec_size - 10;
-
- if (data_size != complete_size) {
- EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
- goto err;
- }
-
- memcpy(target, data + 10, data_size);
-
- ec_datagram_clear(&datagram);
- return 0;
- err:
- ec_datagram_clear(&datagram);
- return -1;
-}
-
-/*****************************************************************************/
-
-/**
- Fetches the SDO dictionary of a slave.
- \return 0 in case of success, else < 0
-*/
-
-int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
-{
- uint8_t *data;
- size_t rec_size;
- unsigned int i, sdo_count;
- ec_sdo_t *sdo;
- uint16_t sdo_index;
- ec_datagram_t datagram;
-
- ec_datagram_init(&datagram);
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 8)))
- goto err;
-
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
- EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
- EC_WRITE_U8 (data + 3, 0x00);
- EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
-
- if (unlikely(ec_master_simple_io(slave->master, &datagram))) {
- EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
- goto err;
- }
-
- do {
- if (!(data = ec_slave_mbox_simple_receive(slave, &datagram,
- 0x03, &rec_size)))
- goto err;
-
- if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
- (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %i!\n",
- slave->ring_position);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
- goto err;
- }
-
- if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
- (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
- EC_ERR("Invalid SDO list response at slave %i!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
- goto err;
- }
-
- if (rec_size < 8) {
- EC_ERR("Invalid data size!\n");
- ec_print_data(data, rec_size);
- goto err;
- }
-
- sdo_count = (rec_size - 8) / 2;
- for (i = 0; i < sdo_count; i++) {
- sdo_index = EC_READ_U16(data + 8 + i * 2);
- if (!sdo_index) continue; // sometimes index is 0... ???
-
- if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for SDO!\n");
- goto err;
- }
-
- // Initialize SDO object
- sdo->index = sdo_index;
- //sdo->unkown = 0x0000;
- sdo->object_code = 0x00;
- sdo->name = NULL;
- INIT_LIST_HEAD(&sdo->entries);
-
- list_add_tail(&sdo->list, &slave->sdo_dictionary);
- }
- }
- while (EC_READ_U8(data + 2) & 0x80);
-
- // Fetch all SDO descriptions
- if (ec_slave_fetch_sdo_descriptions(slave, &datagram)) goto err;
-
- ec_datagram_clear(&datagram);
- return 0;
- err:
- ec_datagram_clear(&datagram);
- return -1;
-}
-
-/*****************************************************************************/
-
-/**
- Fetches the SDO descriptions for the known SDOs.
- \return 0 in case of success, else < 0
-*/
-
-int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave, /**< EtherCAT slave */
- ec_datagram_t *datagram /**< datagram */
- )
-{
- uint8_t *data;
- size_t rec_size, name_size;
- ec_sdo_t *sdo;
-
- list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8)))
- return -1;
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
- EC_WRITE_U8 (data + 2, 0x03); // Get object description request
- EC_WRITE_U8 (data + 3, 0x00);
- EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, sdo->index); // SDO index
-
- if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size)))
- return -1;
-
- if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
- (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %i while"
- " fetching SDO 0x%04X!\n", slave->ring_position,
- sdo->index);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
- return -1;
- }
-
- if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
- (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
- EC_READ_U16(data + 6) != sdo->index) { // SDO index
- EC_ERR("Invalid object description response at slave %i while"
- " fetching SDO 0x%04X!\n", slave->ring_position,
- sdo->index);
- ec_print_data(data, rec_size);
- return -1;
- }
-
- if (rec_size < 12) {
- EC_ERR("Invalid data size!\n");
- ec_print_data(data, rec_size);
- return -1;
- }
-
-#if 0
- EC_DBG("object desc response:\n");
- ec_print_data(data, rec_size);
-#endif
-
- //sdo->unknown = EC_READ_U16(data + 8);
- sdo->object_code = EC_READ_U8(data + 11);
-
- name_size = rec_size - 12;
- if (name_size) {
- if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate SDO name!\n");
- return -1;
- }
-
- memcpy(sdo->name, data + 12, name_size);
- sdo->name[name_size] = 0;
- }
-
- if (EC_READ_U8(data + 2) & 0x80) {
- EC_ERR("Fragment follows (not implemented)!\n");
- return -1;
- }
-
- // Fetch all entries (subindices)
- if (ec_slave_fetch_sdo_entries(slave, datagram, sdo,
- EC_READ_U8(data + 10)))
- return -1;
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Fetches all entries (subindices) to an SDO.
- \return 0 in case of success, else < 0
-*/
-
-int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
- ec_datagram_t *datagram, /**< datagram */
- ec_sdo_t *sdo, /**< SDO */
- uint8_t subindices /**< number of subindices */
- )
-{
- uint8_t *data;
- size_t rec_size, data_size;
- uint8_t i;
- ec_sdo_entry_t *entry;
-
- for (i = 1; i <= subindices; i++) {
- if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10)))
- return -1;
-
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
- EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
- EC_WRITE_U8 (data + 3, 0x00);
- EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, sdo->index); // SDO index
- EC_WRITE_U8 (data + 8, i); // SDO subindex
- EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
-
- if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size)))
- return -1;
-
- if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
- (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %i while"
- " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
- sdo->index, i);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
- return -1;
- }
-
- if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
- (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
- EC_READ_U16(data + 6) != sdo->index || // SDO index
- EC_READ_U8(data + 8) != i) { // SDO subindex
- EC_ERR("Invalid entry description response at slave %i while"
- " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
- sdo->index, i);
- ec_print_data(data, rec_size);
- return -1;
- }
-
- if (rec_size < 16) {
- EC_ERR("Invalid data size!\n");
- ec_print_data(data, rec_size);
- return -1;
- }
-
- if (!EC_READ_U16(data + 12)) // bit length = 0
- continue;
-
- data_size = rec_size - 16;
-
- if (!(entry = (ec_sdo_entry_t *)
- kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate entry!\n");
- return -1;
- }
-
- entry->subindex = i;
- entry->data_type = EC_READ_U16(data + 10);
- entry->bit_length = EC_READ_U16(data + 12);
-
- // memory for name string appended to entry
- entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
-
- memcpy(entry->name, data + 16, data_size);
- entry->name[data_size] = 0;
-
- list_add_tail(&entry->list, &sdo->entries);
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- SDO abort messages.
- The "abort SDO transfer request" supplies an abort code,
- which can be translated to clear text. This table does
- the mapping of the codes and messages.
-*/
-
-const ec_code_msg_t sdo_abort_messages[] = {
- {0x05030000, "Toggle bit not changed"},
- {0x05040000, "SDO protocol timeout"},
- {0x05040001, "Client/Server command specifier not valid or unknown"},
- {0x05040005, "Out of memory"},
- {0x06010000, "Unsupported access to an object"},
- {0x06010001, "Attempt to read a write-only object"},
- {0x06010002, "Attempt to write a read-only object"},
- {0x06020000, "This object does not exist in the object directory"},
- {0x06040041, "The object cannot be mapped into the PDO"},
- {0x06040042, "The number and length of the objects to be mapped would"
- " exceed the PDO length"},
- {0x06040043, "General parameter incompatibility reason"},
- {0x06040047, "Gerneral internal incompatibility in device"},
- {0x06060000, "Access failure due to a hardware error"},
- {0x06070010, "Data type does not match, length of service parameter does"
- " not match"},
- {0x06070012, "Data type does not match, length of service parameter too"
- " high"},
- {0x06070013, "Data type does not match, length of service parameter too"
- " low"},
- {0x06090011, "Subindex does not exist"},
- {0x06090030, "Value range of parameter exceeded"},
- {0x06090031, "Value of parameter written too high"},
- {0x06090032, "Value of parameter written too low"},
- {0x06090036, "Maximum value is less than minimum value"},
- {0x08000000, "General error"},
- {0x08000020, "Data cannot be transferred or stored to the application"},
- {0x08000021, "Data cannot be transferred or stored to the application"
- " because of local control"},
- {0x08000022, "Data cannot be transferred or stored to the application"
- " because of the present device state"},
- {0x08000023, "Object dictionary dynamic generation fails or no object"
- " dictionary is present"},
- {}
-};
-
-/*****************************************************************************/
-
-/**
- Outputs an SDO abort message.
-*/
-
-void ec_canopen_abort_msg(uint32_t abort_code)
-{
- const ec_code_msg_t *abort_msg;
-
- for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
- if (abort_msg->code == abort_code) {
- EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
- abort_msg->code, abort_msg->message);
- return;
- }
- }
-
- EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
-}
-
-/******************************************************************************
- * Realtime interface
- *****************************************************************************/
-
-/**
- Reads an 8-bit SDO in expedited mode.
- See ec_slave_sdo_read_exp()
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint8_t *target /**< memory for read value */
- )
-{
- uint8_t data[4];
- if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
- *target = EC_READ_U8(data);
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Reads a 16-bit SDO in expedited mode.
- See ec_slave_sdo_read_exp()
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint16_t *target /**< memory for read value */
- )
-{
- uint8_t data[4];
- if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
- *target = EC_READ_U16(data);
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Reads a 32-bit SDO in expedited mode.
- See ec_slave_sdo_read_exp()
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint32_t *target /**< memory for read value */
- )
-{
- uint8_t data[4];
- if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
- *target = EC_READ_U32(data);
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Writes an 8-bit SDO in expedited mode.
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint8_t value /**< new value */
- )
-{
- return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
-}
-
-/*****************************************************************************/
-
-/**
- Writes a 16-bit SDO in expedited mode.
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint16_t value /**< new value */
- )
-{
- uint8_t data[2];
- EC_WRITE_U16(data, value);
- return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
-}
-
-/*****************************************************************************/
-
-/**
- Writes a 32-bit SDO in expedited mode.
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint32_t value /**< new value */
- )
-{
- uint8_t data[4];
- EC_WRITE_U32(data, value);
- return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
-}
-
-/*****************************************************************************/
-
-/** \cond */
-
-EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
-EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
-EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
-EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
-EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
-EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
-EXPORT_SYMBOL(ecrt_slave_sdo_read);
-
-/** \endcond */
-
-/*****************************************************************************/