Sch?nheitskorrekturen.
/******************************************************************************
*
* e c _ s l a v e . c
*
* Methoden für einen EtherCAT-Slave.
*
* $Id$
*
*****************************************************************************/
#include <linux/module.h>
#include "ec_globals.h"
#include "ec_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 EtherCAT_slave_init(EtherCAT_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 = ECAT_STATE_UNKNOWN;
slave->requested_state = ECAT_STATE_UNKNOWN;
slave->process_data = NULL;
slave->domain = 0;
slave->error_reported = 0;
}
/*****************************************************************************/
/**
EtherCAT-Slave-Destruktor.
Im Moment ohne Funktionalität.
@param slave Zeiger auf den zu zerstörenden Slave
*/
void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
{
// Nothing yet...
}
/*****************************************************************************/
/**
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);
/*****************************************************************************/
/* Emacs-Konfiguration
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*/