fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@199: /**
fp@199:    \file
fp@199:    EtherCAT slave methods.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@24: #include <linux/module.h>
fp@73: #include <linux/delay.h>
fp@0: 
fp@54: #include "globals.h"
fp@54: #include "slave.h"
fp@293: #include "datagram.h"
fp@98: #include "master.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@251: extern const ec_code_msg_t al_status_messages[];
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@182: ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
fp@256: ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
fp@256:                                  const char *, size_t);
fp@182: 
fp@182: /*****************************************************************************/
fp@182: 
fp@199: /** \cond */
fp@199: 
fp@325: EC_SYSFS_READ_ATTR(info);
fp@256: EC_SYSFS_READ_WRITE_ATTR(state);
fp@269: EC_SYSFS_READ_WRITE_ATTR(eeprom);
fp@182: 
fp@182: static struct attribute *def_attrs[] = {
fp@325:     &attr_info,
fp@256:     &attr_state,
fp@266:     &attr_eeprom,
fp@182:     NULL,
fp@182: };
fp@182: 
fp@182: static struct sysfs_ops sysfs_ops = {
fp@256:     .show = ec_show_slave_attribute,
fp@256:     .store = ec_store_slave_attribute
fp@182: };
fp@182: 
fp@182: static struct kobj_type ktype_ec_slave = {
fp@182:     .release = ec_slave_clear,
fp@182:     .sysfs_ops = &sysfs_ops,
fp@182:     .default_attrs = def_attrs
fp@182: };
fp@118: 
fp@199: /** \endcond */
fp@199: 
fp@118: /*****************************************************************************/
fp@118: 
fp@0: /**
fp@195:    Slave constructor.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
fp@195:                   ec_master_t *master, /**< EtherCAT master */
fp@195:                   uint16_t ring_position, /**< ring position */
fp@195:                   uint16_t station_address /**< station address to configure */
fp@182:                   )
fp@73: {
fp@142:     unsigned int i;
fp@142: 
fp@182:     slave->ring_position = ring_position;
fp@182:     slave->station_address = station_address;
fp@182: 
fp@195:     // init kobject and add it to the hierarchy
fp@182:     memset(&slave->kobj, 0x00, sizeof(struct kobject));
fp@182:     kobject_init(&slave->kobj);
fp@182:     slave->kobj.ktype = &ktype_ec_slave;
fp@182:     slave->kobj.parent = &master->kobj;
fp@182:     if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
fp@182:         EC_ERR("Failed to set kobject name.\n");
fp@182:         kobject_put(&slave->kobj);
fp@182:         return -1;
fp@182:     }
fp@182: 
fp@73:     slave->master = master;
fp@325: 
fp@325:     slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
fp@325:     slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fp@325:     slave->error_flag = 0;
fp@325:     slave->online = 1;
fp@325:     slave->fmmu_count = 0;
fp@325:     slave->registered = 0;
fp@325: 
fp@188:     slave->coupler_index = 0;
fp@188:     slave->coupler_subindex = 0xFFFF;
fp@325: 
fp@73:     slave->base_type = 0;
fp@73:     slave->base_revision = 0;
fp@73:     slave->base_build = 0;
fp@73:     slave->base_fmmu_count = 0;
fp@73:     slave->base_sync_count = 0;
fp@325: 
fp@325:     slave->eeprom_data = NULL;
fp@325:     slave->eeprom_size = 0;
fp@325:     slave->new_eeprom_data = NULL;
fp@325:     slave->new_eeprom_size = 0;
fp@325: 
fp@114:     slave->sii_alias = 0;
fp@73:     slave->sii_vendor_id = 0;
fp@73:     slave->sii_product_code = 0;
fp@73:     slave->sii_revision_number = 0;
fp@73:     slave->sii_serial_number = 0;
fp@136:     slave->sii_rx_mailbox_offset = 0;
fp@136:     slave->sii_rx_mailbox_size = 0;
fp@136:     slave->sii_tx_mailbox_offset = 0;
fp@136:     slave->sii_tx_mailbox_size = 0;
fp@133:     slave->sii_mailbox_protocols = 0;
fp@325:     slave->sii_group = NULL;
fp@325:     slave->sii_image = NULL;
fp@325:     slave->sii_order = NULL;
fp@325:     slave->sii_name = NULL;
fp@325: 
fp@325:     INIT_LIST_HEAD(&slave->sii_strings);
fp@325:     INIT_LIST_HEAD(&slave->sii_syncs);
fp@325:     INIT_LIST_HEAD(&slave->sii_pdos);
fp@135:     INIT_LIST_HEAD(&slave->sdo_dictionary);
fp@329:     INIT_LIST_HEAD(&slave->sdo_confs);
fp@275:     INIT_LIST_HEAD(&slave->varsize_fields);
fp@145: 
fp@183:     for (i = 0; i < 4; i++) {
fp@183:         slave->dl_link[i] = 0;
fp@183:         slave->dl_loop[i] = 0;
fp@183:         slave->dl_signal[i] = 0;
fp@190:         slave->sii_physical_layer[i] = 0xFF;
fp@145:     }
fp@182: 
fp@182:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@195:    Slave destructor.
fp@195: */
fp@195: 
fp@195: void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
fp@182: {
fp@182:     ec_slave_t *slave;
fp@325:     ec_sii_string_t *string, *next_str;
fp@325:     ec_sii_sync_t *sync, *next_sync;
fp@325:     ec_sii_pdo_t *pdo, *next_pdo;
fp@325:     ec_sii_pdo_entry_t *entry, *next_ent;
fp@157:     ec_sdo_t *sdo, *next_sdo;
fp@157:     ec_sdo_entry_t *en, *next_en;
fp@329:     ec_sdo_data_t *sdodata, *next_sdodata;
fp@275:     ec_varsize_t *var, *next_var;
fp@118: 
fp@182:     slave = container_of(kobj, ec_slave_t, kobj);
fp@182: 
fp@195:     // free all string objects
fp@325:     list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {
fp@118:         list_del(&string->list);
fp@118:         kfree(string);
fp@118:     }
fp@121: 
fp@195:     // free all sync managers
fp@325:     list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {
fp@126:         list_del(&sync->list);
fp@126:         kfree(sync);
fp@126:     }
fp@126: 
fp@195:     // free all PDOs
fp@325:     list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
fp@126:         list_del(&pdo->list);
fp@126:         if (pdo->name) kfree(pdo->name);
fp@126: 
fp@195:         // free all PDO entries
fp@126:         list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
fp@126:             list_del(&entry->list);
fp@126:             if (entry->name) kfree(entry->name);
fp@126:             kfree(entry);
fp@126:         }
fp@126: 
fp@126:         kfree(pdo);
fp@126:     }
fp@126: 
fp@325:     if (slave->sii_group) kfree(slave->sii_group);
fp@325:     if (slave->sii_image) kfree(slave->sii_image);
fp@325:     if (slave->sii_order) kfree(slave->sii_order);
fp@325:     if (slave->sii_name) kfree(slave->sii_name);
fp@135: 
fp@195:     // free all SDOs
fp@135:     list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
fp@135:         list_del(&sdo->list);
fp@135:         if (sdo->name) kfree(sdo->name);
fp@161: 
fp@195:         // free all SDO entries
fp@139:         list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
fp@139:             list_del(&en->list);
fp@139:             kfree(en);
fp@139:         }
fp@135:         kfree(sdo);
fp@135:     }
fp@145: 
fp@329:     // free all SDO configurations
fp@329:     list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
fp@329:         list_del(&sdodata->list);
fp@329:         kfree(sdodata->data);
fp@329:         kfree(sdodata);
fp@329:     }
fp@329: 
fp@275:     // free information about variable sized data fields
fp@275:     list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) {
fp@275:         list_del(&var->list);
fp@275:         kfree(var);
fp@275:     }
fp@275: 
fp@266:     if (slave->eeprom_data) kfree(slave->eeprom_data);
fp@269:     if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
fp@121: }
fp@121: 
fp@121: /*****************************************************************************/
fp@121: 
fp@121: /**
fp@195:    Fetches data from a STRING category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
fp@195:                            const uint8_t *data /**< category data */
fp@118:                            )
fp@118: {
fp@118:     unsigned int string_count, i;
fp@118:     size_t size;
fp@118:     off_t offset;
fp@325:     ec_sii_string_t *string;
fp@118: 
fp@118:     string_count = data[0];
fp@118:     offset = 1;
fp@118:     for (i = 0; i < string_count; i++) {
fp@118:         size = data[offset];
fp@195:         // allocate memory for string structure and data at a single blow
fp@325:         if (!(string = (ec_sii_string_t *)
fp@325:               kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {
fp@118:             EC_ERR("Failed to allocate string memory.\n");
fp@118:             return -1;
fp@118:         }
fp@121:         string->size = size;
fp@161:         // string memory appended to string structure
fp@325:         string->data = (char *) string + sizeof(ec_sii_string_t);
fp@118:         memcpy(string->data, data + offset + 1, size);
fp@118:         string->data[size] = 0x00;
fp@325:         list_add_tail(&string->list, &slave->sii_strings);
fp@118:         offset += 1 + size;
fp@118:     }
fp@118: 
fp@118:     return 0;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@195:    Fetches data from a GENERAL category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@325: void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
fp@325:                             const uint8_t *data /**< category data */
fp@325:                             )
fp@123: {
fp@190:     unsigned int i;
fp@190: 
fp@325:     ec_slave_locate_string(slave, data[0], &slave->sii_group);
fp@325:     ec_slave_locate_string(slave, data[1], &slave->sii_image);
fp@325:     ec_slave_locate_string(slave, data[2], &slave->sii_order);
fp@325:     ec_slave_locate_string(slave, data[3], &slave->sii_name);
fp@123: 
fp@190:     for (i = 0; i < 4; i++)
fp@195:         slave->sii_physical_layer[i] =
fp@195:             (data[4] & (0x03 << (i * 2))) >> (i * 2);
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@195:    Fetches data from a SYNC MANAGER category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
fp@195:                         const uint8_t *data, /**< category data */
fp@195:                         size_t word_count /**< number of words */
fp@126:                         )
fp@126: {
fp@126:     unsigned int sync_count, i;
fp@325:     ec_sii_sync_t *sync;
fp@126: 
fp@195:     sync_count = word_count / 4; // sync manager struct is 4 words long
fp@126: 
fp@126:     for (i = 0; i < sync_count; i++, data += 8) {
fp@325:         if (!(sync = (ec_sii_sync_t *)
fp@325:               kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {
fp@126:             EC_ERR("Failed to allocate Sync-Manager memory.\n");
fp@126:             return -1;
fp@126:         }
fp@126: 
fp@126:         sync->index = i;
fp@325:         sync->physical_start_address = EC_READ_U16(data);
fp@325:         sync->length                 = EC_READ_U16(data + 2);
fp@325:         sync->control_register       = EC_READ_U8 (data + 4);
fp@325:         sync->enable                 = EC_READ_U8 (data + 6);
fp@325: 
fp@325:         list_add_tail(&sync->list, &slave->sii_syncs);
fp@126:     }
fp@126: 
fp@126:     return 0;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@195:    Fetches data from a [RT]XPDO category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
fp@195:                        const uint8_t *data, /**< category data */
fp@195:                        size_t word_count, /**< number of words */
fp@325:                        ec_sii_pdo_type_t pdo_type /**< PDO type */
fp@126:                        )
fp@126: {
fp@325:     ec_sii_pdo_t *pdo;
fp@325:     ec_sii_pdo_entry_t *entry;
fp@126:     unsigned int entry_count, i;
fp@126: 
fp@126:     while (word_count >= 4) {
fp@325:         if (!(pdo = (ec_sii_pdo_t *)
fp@325:               kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {
fp@126:             EC_ERR("Failed to allocate PDO memory.\n");
fp@126:             return -1;
fp@126:         }
fp@126: 
fp@126:         INIT_LIST_HEAD(&pdo->entries);
fp@126:         pdo->type = pdo_type;
fp@126: 
fp@325:         pdo->index = EC_READ_U16(data);
fp@325:         entry_count = EC_READ_U8(data + 2);
fp@325:         pdo->sync_index = EC_READ_U8(data + 3);
fp@126:         pdo->name = NULL;
fp@325:         ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);
fp@325: 
fp@325:         list_add_tail(&pdo->list, &slave->sii_pdos);
fp@126: 
fp@126:         word_count -= 4;
fp@126:         data += 8;
fp@126: 
fp@126:         for (i = 0; i < entry_count; i++) {
fp@325:             if (!(entry = (ec_sii_pdo_entry_t *)
fp@325:                   kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {
fp@126:                 EC_ERR("Failed to allocate PDO entry memory.\n");
fp@126:                 return -1;
fp@126:             }
fp@126: 
fp@325:             entry->index = EC_READ_U16(data);
fp@325:             entry->subindex = EC_READ_U8(data + 2);
fp@126:             entry->name = NULL;
fp@325:             ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);
fp@325:             entry->bit_length = EC_READ_U8(data + 5);
fp@126: 
fp@126:             list_add_tail(&entry->list, &pdo->entries);
fp@126: 
fp@126:             word_count -= 4;
fp@126:             data += 8;
fp@126:         }
fp@126:     }
fp@126: 
fp@126:     return 0;
fp@114: }
fp@114: 
fp@114: /*****************************************************************************/
fp@114: 
fp@114: /**
fp@195:    Searches the string list for an index and allocates a new string.
fp@195:    \return 0 in case of success, else < 0
fp@197:    \todo documentation
fp@197: */
fp@197: 
fp@197: int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
fp@197:                            unsigned int index, /**< string index */
fp@197:                            char **ptr /**< Address of the string pointer */
fp@197:                            )
fp@123: {
fp@325:     ec_sii_string_t *string;
fp@126:     char *err_string;
fp@126: 
fp@126:     // Erst alten Speicher freigeben
fp@123:     if (*ptr) {
fp@123:         kfree(*ptr);
fp@123:         *ptr = NULL;
fp@123:     }
fp@123: 
fp@126:     // Index 0 bedeutet "nicht belegt"
fp@123:     if (!index) return 0;
fp@123: 
fp@126:     // EEPROM-String mit Index finden und kopieren
fp@325:     list_for_each_entry(string, &slave->sii_strings, list) {
fp@126:         if (--index) continue;
fp@126: 
fp@296:         if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_ATOMIC))) {
fp@126:             EC_ERR("Unable to allocate string memory.\n");
fp@126:             return -1;
fp@126:         }
fp@126:         memcpy(*ptr, string->data, string->size + 1);
fp@126:         return 0;
fp@126:     }
fp@126: 
fp@126:     EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
fp@126: 
fp@126:     err_string = "(string not found)";
fp@126: 
fp@296:     if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) {
fp@325:         EC_WARN("Unable to allocate string memory.\n");
fp@126:         return -1;
fp@126:     }
fp@126: 
fp@126:     memcpy(*ptr, err_string, strlen(err_string) + 1);
fp@123:     return 0;
fp@123: }
fp@123: 
fp@123: /*****************************************************************************/
fp@123: 
fp@123: /**
fp@195:    Prepares an FMMU configuration.
fp@195:    Configuration data for the FMMU is saved in the slave structure and is
fp@195:    written to the slave in ecrt_master_activate().
fp@195:    The FMMU configuration is done in a way, that the complete data range
fp@325:    of the corresponding sync manager is covered. Seperate FMMUs are configured
fp@195:    for each domain.
fp@195:    If the FMMU configuration is already prepared, the function returns with
fp@195:    success.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
fp@195:                           const ec_domain_t *domain, /**< domain */
fp@325:                           const ec_sii_sync_t *sync  /**< sync manager */
fp@160:                           )
fp@73: {
fp@73:     unsigned int i;
fp@73: 
fp@195:     // FMMU configuration already prepared?
fp@73:     for (i = 0; i < slave->fmmu_count; i++)
fp@73:         if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
fp@73:             return 0;
fp@73: 
fp@195:     // reserve new FMMU...
fp@91: 
fp@73:     if (slave->fmmu_count >= slave->base_fmmu_count) {
fp@84:         EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     slave->fmmus[slave->fmmu_count].domain = domain;
fp@73:     slave->fmmus[slave->fmmu_count].sync = sync;
fp@73:     slave->fmmus[slave->fmmu_count].logical_start_address = 0;
fp@73:     slave->fmmu_count++;
fp@73:     slave->registered = 1;
fp@73: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@195:    Outputs all information about a certain slave.
fp@325: */
fp@325: 
fp@325: size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
fp@325:                      char *buffer /**< Output buffer */
fp@325:                      )
fp@325: {
fp@325:     off_t off = 0;
fp@325:     ec_sii_sync_t *sync;
fp@325:     ec_sii_pdo_t *pdo;
fp@325:     ec_sii_pdo_entry_t *pdo_entry;
fp@142:     int first, i;
fp@126: 
fp@325:     off += sprintf(buffer + off, "\nName: ");
fp@325: 
fp@325:     if (slave->sii_name)
fp@325:         off += sprintf(buffer + off, "%s", slave->sii_name);
fp@325: 
fp@325:     off += sprintf(buffer + off, "\n\nVendor ID: 0x%08X\n",
fp@325:                    slave->sii_vendor_id);
fp@325:     off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
fp@325:                    slave->sii_product_code);
fp@325: 
fp@325:     off += sprintf(buffer + off, "Ring position: %i\n", slave->ring_position);
fp@325:     off += sprintf(buffer + off, "Advanced position: %i:%i\n\n",
fp@325:                    slave->coupler_index, slave->coupler_subindex);
fp@325: 
fp@325:     off += sprintf(buffer + off, "State: ");
fp@325:     off += ec_state_string(slave->current_state, buffer + off);
fp@325:     off += sprintf(buffer + off, "\n\n");
fp@325: 
fp@325:     off += sprintf(buffer + off, "Data link status:\n");
fp@183:     for (i = 0; i < 4; i++) {
fp@325:         off += sprintf(buffer + off, "  Port %i (", i);
fp@190:         switch (slave->sii_physical_layer[i]) {
fp@190:             case 0x00:
fp@325:                 off += sprintf(buffer + off, "EBUS");
fp@190:                 break;
fp@190:             case 0x01:
fp@325:                 off += sprintf(buffer + off, "100BASE-TX");
fp@190:                 break;
fp@190:             case 0x02:
fp@325:                 off += sprintf(buffer + off, "100BASE-FX");
fp@190:                 break;
fp@190:             default:
fp@325:                 off += sprintf(buffer + off, "unknown (%i)",
fp@325:                                slave->sii_physical_layer[i]);
fp@325:         }
fp@325:         off += sprintf(buffer + off, ") Link %s, Loop %s, %s\n",
fp@325:                        slave->dl_link[i] ? "up" : "down",
fp@325:                        slave->dl_loop[i] ? "closed" : "open",
fp@325:                        slave->dl_signal[i] ? "Signal detected" : "No signal");
fp@325:     }
fp@147: 
fp@147:     if (slave->sii_mailbox_protocols) {
fp@325:         off += sprintf(buffer + off, "\nMailboxes:\n");
fp@325:         off += sprintf(buffer + off, "  RX mailbox: 0x%04X/%i,"
fp@325:                        " TX mailbox: 0x%04X/%i\n",
fp@325:                        slave->sii_rx_mailbox_offset,
fp@325:                        slave->sii_rx_mailbox_size,
fp@325:                        slave->sii_tx_mailbox_offset,
fp@325:                        slave->sii_tx_mailbox_size);
fp@325:         off += sprintf(buffer + off, "  Supported protocols: ");
fp@147: 
fp@147:         first = 1;
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
fp@325:             off += sprintf(buffer + off, "AoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "EoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "CoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "FoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "SoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "VoE");
fp@325:         }
fp@325:         off += sprintf(buffer + off, "\n");
fp@325:     }
fp@325: 
fp@325:     if (slave->sii_alias || slave->sii_group
fp@325:         || slave->sii_image || slave->sii_order)
fp@325:         off += sprintf(buffer + off, "\nSII data:\n");
fp@266: 
fp@147:     if (slave->sii_alias)
fp@325:         off += sprintf(buffer + off, "  Configured station alias:"
fp@325:                        " 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias);
fp@325:     if (slave->sii_group)
fp@325:         off += sprintf(buffer + off, "  Group: %s\n", slave->sii_group);
fp@325:     if (slave->sii_image)
fp@325:         off += sprintf(buffer + off, "  Image: %s\n", slave->sii_image);
fp@325:     if (slave->sii_order)
fp@325:         off += sprintf(buffer + off, "  Order#: %s\n", slave->sii_order);
fp@325: 
fp@325:     if (!list_empty(&slave->sii_syncs))
fp@325:         off += sprintf(buffer + off, "\nSync-Managers:\n");
fp@325: 
fp@325:     list_for_each_entry(sync, &slave->sii_syncs, list) {
fp@325:         off += sprintf(buffer + off, "  %i: 0x%04X, length %i,"
fp@325:                        " control 0x%02X, %s\n",
fp@325:                        sync->index, sync->physical_start_address,
fp@325:                        sync->length, sync->control_register,
fp@325:                        sync->enable ? "enable" : "disable");
fp@325:     }
fp@325: 
fp@325:     if (!list_empty(&slave->sii_pdos))
fp@325:         off += sprintf(buffer + off, "\nPDOs:\n");
fp@325: 
fp@325:     list_for_each_entry(pdo, &slave->sii_pdos, list) {
fp@325:         off += sprintf(buffer + off,
fp@325:                        "  %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
fp@325:                        pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
fp@325:                        pdo->name ? pdo->name : "???",
fp@325:                        pdo->index, pdo->sync_index);
fp@147: 
fp@147:         list_for_each_entry(pdo_entry, &pdo->entries, list) {
fp@325:             off += sprintf(buffer + off, "    \"%s\" 0x%04X:%X, %i Bit\n",
fp@325:                            pdo_entry->name ? pdo_entry->name : "???",
fp@325:                            pdo_entry->index, pdo_entry->subindex,
fp@325:                            pdo_entry->bit_length);
fp@325:         }
fp@325:     }
fp@325: 
fp@325:     off += sprintf(buffer + off, "\n");
fp@325: 
fp@325:     return off;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@325: #if 0
fp@123: 
fp@123: /**
fp@195:    Outputs the values of the CRC faoult counters and resets them.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
fp@74: {
fp@293:     ec_datagram_t *datagram;
fp@293: 
fp@293:     datagram = &slave->master->simple_datagram;
fp@293: 
fp@293:     if (ec_datagram_nprd(datagram, slave->station_address, 0x0300, 4))
fp@293:         return -1;
fp@293:     if (unlikely(ec_master_simple_io(slave->master, datagram))) {
fp@89:         EC_WARN("Reading CRC fault counters failed on slave %i!\n",
fp@84:                 slave->ring_position);
fp@74:         return -1;
fp@74:     }
fp@74: 
fp@293:     if (!EC_READ_U32(datagram->data)) return 0; // no CRC faults
fp@293: 
fp@293:     if (EC_READ_U8(datagram->data))
fp@132:         EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
fp@293:                 EC_READ_U8(datagram->data),
fp@293:                 EC_READ_U8(datagram->data) == 1 ? "" : "s",
fp@132:                 slave->ring_position);
fp@293:     if (EC_READ_U8(datagram->data + 1))
fp@132:         EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
fp@293:                 EC_READ_U8(datagram->data + 1),
fp@293:                 EC_READ_U8(datagram->data + 1) == 1 ? "" : "s",
fp@132:                 slave->ring_position);
fp@293:     if (EC_READ_U8(datagram->data + 2))
fp@132:         EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
fp@293:                 EC_READ_U8(datagram->data + 2),
fp@293:                 EC_READ_U8(datagram->data + 2) == 1 ? "" : "s",
fp@132:                 slave->ring_position);
fp@293:     if (EC_READ_U8(datagram->data + 3))
fp@132:         EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
fp@293:                 EC_READ_U8(datagram->data + 3),
fp@293:                 EC_READ_U8(datagram->data + 3) == 1 ? "" : "s",
fp@132:                 slave->ring_position);
fp@74: 
fp@195:     // reset CRC counters
fp@293:     if (ec_datagram_npwr(datagram, slave->station_address, 0x0300, 4))
fp@293:         return -1;
fp@293:     EC_WRITE_U32(datagram->data, 0x00000000);
fp@293:     if (unlikely(ec_master_simple_io(slave->master, datagram))) {
fp@89:         EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
fp@84:                 slave->ring_position);
fp@74:         return -1;
fp@74:     }
fp@74: 
fp@74:     return 0;
fp@74: }
fp@74: 
fp@325: #endif
fp@325: 
fp@74: /*****************************************************************************/
fp@74: 
fp@133: /**
fp@269:    Schedules an EEPROM write operation.
fp@269:    \return 0 in case of success, else < 0
fp@269: */
fp@269: 
fp@269: ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
fp@269:                               const uint8_t *data, /**< new EEPROM data */
fp@269:                               size_t size /**< size of data in bytes */
fp@269:                               )
fp@269: {
fp@269:     uint16_t word_size, cat_type, cat_size;
fp@269:     const uint16_t *data_words, *next_header;
fp@269:     uint16_t *new_data;
fp@269: 
fp@269:     if (!slave->master->eeprom_write_enable) {
fp@269:         EC_ERR("Writing EEPROMs not allowed! Enable via"
fp@269:                " eeprom_write_enable SysFS entry.\n");
fp@269:         return -1;
fp@269:     }
fp@269: 
fp@306:     if (slave->master->mode != EC_MASTER_MODE_IDLE) {
fp@306:         EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
fp@269:         return -1;
fp@269:     }
fp@269: 
fp@269:     if (slave->new_eeprom_data) {
fp@269:         EC_ERR("Slave %i already has a pending EEPROM write operation!\n",
fp@269:                slave->ring_position);
fp@269:         return -1;
fp@269:     }
fp@269: 
fp@269:     // coarse check of the data
fp@269: 
fp@269:     if (size % 2) {
fp@269:         EC_ERR("EEPROM size is odd! Dropping.\n");
fp@269:         return -1;
fp@269:     }
fp@269: 
fp@269:     data_words = (const uint16_t *) data;
fp@269:     word_size = size / 2;
fp@269: 
fp@269:     if (word_size < 0x0041) {
fp@269:         EC_ERR("EEPROM data too short! Dropping.\n");
fp@269:         return -1;
fp@269:     }
fp@269: 
fp@269:     next_header = data_words + 0x0040;
fp@269:     cat_type = EC_READ_U16(next_header);
fp@269:     while (cat_type != 0xFFFF) {
fp@269:         cat_type = EC_READ_U16(next_header);
fp@269:         cat_size = EC_READ_U16(next_header + 1);
fp@269:         if ((next_header + cat_size + 2) - data_words >= word_size) {
fp@269:             EC_ERR("EEPROM data seems to be corrupted! Dropping.\n");
fp@269:             return -1;
fp@269:         }
fp@269:         next_header += cat_size + 2;
fp@269:         cat_type = EC_READ_U16(next_header);
fp@269:     }
fp@269: 
fp@269:     // data ok!
fp@269: 
fp@269:     if (!(new_data = (uint16_t *) kmalloc(word_size * 2, GFP_KERNEL))) {
fp@269:         EC_ERR("Unable to allocate memory for new EEPROM data!\n");
fp@269:         return -1;
fp@269:     }
fp@269:     memcpy(new_data, data, size);
fp@269: 
fp@269:     slave->new_eeprom_size = word_size;
fp@269:     slave->new_eeprom_data = new_data;
fp@269: 
fp@269:     EC_INFO("EEPROM writing scheduled for slave %i, %i words.\n",
fp@269:             slave->ring_position, word_size);
fp@269:     return 0;
fp@269: }
fp@269: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@195:    Formats attribute data for SysFS read access.
fp@195:    \return number of bytes to read
fp@195: */
fp@195: 
fp@195: ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
fp@195:                                 struct attribute *attr, /**< attribute */
fp@195:                                 char *buffer /**< memory to store data */
fp@182:                                 )
fp@182: {
fp@182:     ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
fp@182: 
fp@325:     if (attr == &attr_info) {
fp@325:         return ec_slave_info(slave, buffer);
fp@185:     }
fp@256:     else if (attr == &attr_state) {
fp@256:         switch (slave->current_state) {
fp@256:             case EC_SLAVE_STATE_INIT:
fp@256:                 return sprintf(buffer, "INIT\n");
fp@256:             case EC_SLAVE_STATE_PREOP:
fp@256:                 return sprintf(buffer, "PREOP\n");
fp@256:             case EC_SLAVE_STATE_SAVEOP:
fp@256:                 return sprintf(buffer, "SAVEOP\n");
fp@256:             case EC_SLAVE_STATE_OP:
fp@256:                 return sprintf(buffer, "OP\n");
fp@256:             default:
fp@256:                 return sprintf(buffer, "UNKNOWN\n");
fp@256:         }
fp@256:     }
fp@266:     else if (attr == &attr_eeprom) {
fp@266:         if (slave->eeprom_data) {
fp@266:             if (slave->eeprom_size > PAGE_SIZE) {
fp@266:                 EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
fp@266:                        slave->ring_position, slave->eeprom_size,
fp@266:                        (int) PAGE_SIZE);
fp@266:             }
fp@266:             else {
fp@266:                 memcpy(buffer, slave->eeprom_data, slave->eeprom_size);
fp@266:                 return slave->eeprom_size;
fp@266:             }
fp@266:         }
fp@266:     }
fp@182: 
fp@182:     return 0;
fp@182: }
fp@182: 
fp@256: /*****************************************************************************/
fp@256: 
fp@256: /**
fp@256:    Formats attribute data for SysFS write access.
fp@256:    \return number of bytes processed, or negative error code
fp@256: */
fp@256: 
fp@256: ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
fp@256:                                  struct attribute *attr, /**< attribute */
fp@256:                                  const char *buffer, /**< memory with data */
fp@256:                                  size_t size /**< size of data to store */
fp@256:                                  )
fp@256: {
fp@256:     ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
fp@256: 
fp@256:     if (attr == &attr_state) {
fp@292:         if (!strcmp(buffer, "INIT\n"))
fp@256:             slave->requested_state = EC_SLAVE_STATE_INIT;
fp@292:         else if (!strcmp(buffer, "PREOP\n"))
fp@256:             slave->requested_state = EC_SLAVE_STATE_PREOP;
fp@292:         else if (!strcmp(buffer, "SAVEOP\n"))
fp@256:             slave->requested_state = EC_SLAVE_STATE_SAVEOP;
fp@292:         else if (!strcmp(buffer, "OP\n"))
fp@256:             slave->requested_state = EC_SLAVE_STATE_OP;
fp@292:         else {
fp@292:             EC_ERR("Invalid slave state \"%s\"!\n", buffer);
fp@292:             return -EINVAL;
fp@292:         }
fp@292: 
fp@292:         EC_INFO("Accepted new state %s for slave %i.\n",
fp@292:                 buffer, slave->ring_position);
fp@292:         slave->error_flag = 0;
fp@292:         return size;
fp@256:     }
fp@269:     else if (attr == &attr_eeprom) {
fp@269:         if (!ec_slave_write_eeprom(slave, buffer, size))
fp@269:             return size;
fp@269:     }
fp@256: 
fp@256:     return -EINVAL;
fp@256: }
fp@256: 
fp@275: /*****************************************************************************/
fp@275: 
fp@275: /**
fp@298:    Calculates the size of a sync manager by evaluating PDO sizes.
fp@298:    \return sync manager size
fp@298: */
fp@298: 
fp@325: uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
fp@325:                                  /**< EtherCAT slave */
fp@325:                                  const ec_sii_sync_t *sync
fp@325:                                  /**< sync manager */
fp@325:                                  )
fp@325: {
fp@325:     ec_sii_pdo_t *pdo;
fp@325:     ec_sii_pdo_entry_t *pdo_entry;
fp@320:     unsigned int bit_size;
fp@298: 
fp@298:     if (sync->length) return sync->length;
fp@298: 
fp@320:     bit_size = 0;
fp@325:     list_for_each_entry(pdo, &slave->sii_pdos, list) {
fp@325:         if (pdo->sync_index != sync->index) continue;
fp@298: 
fp@298:         list_for_each_entry(pdo_entry, &pdo->entries, list) {
fp@320:             bit_size += pdo_entry->bit_length;
fp@320:         }
fp@320:     }
fp@320: 
fp@320:     if (bit_size % 8) // round up to full bytes
fp@320:         return bit_size / 8 + 1;
fp@320:     else
fp@320:         return bit_size / 8;
fp@298: }
fp@298: 
fp@325: /*****************************************************************************/
fp@325: 
fp@325: /**
fp@325:    \return non-zero if slave is a bus coupler
fp@325: */
fp@325: 
fp@325: int ec_slave_is_coupler(const ec_slave_t *slave)
fp@325: {
fp@325:     // TODO: Better bus coupler criterion
fp@325:     return slave->sii_vendor_id == 0x00000002
fp@325:         && slave->sii_product_code == 0x044C2C52;
fp@325: }
fp@325: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@329:    \return 0 in case of success, else < 0
fp@329: */
fp@329: 
fp@329: int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                       uint16_t sdo_index, /**< SDO index */
fp@329:                       uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                       const uint8_t *data, /**< SDO data */
fp@329:                       size_t size /**< SDO size in bytes */
fp@329:                       )
fp@329: {
fp@329:     ec_sdo_data_t *sdodata;
fp@329: 
fp@329:     if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
fp@329:         EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
fp@329:         return -1;
fp@329:     }
fp@329: 
fp@329:     if (!(sdodata = (ec_sdo_data_t *)
fp@329:           kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
fp@329:         EC_ERR("Failed to allocate memory for SDO configuration object!\n");
fp@329:         return -1;
fp@329:     }
fp@329: 
fp@329:     if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
fp@329:         EC_ERR("Failed to allocate memory for SDO configuration data!\n");
fp@329:         kfree(sdodata);
fp@329:         return -1;
fp@329:     }
fp@329: 
fp@329:     sdodata->index = sdo_index;
fp@329:     sdodata->subindex = sdo_subindex;
fp@329:     memcpy(sdodata->data, data, size);
fp@329:     sdodata->size = size;
fp@329: 
fp@329:     list_add_tail(&sdodata->list, &slave->sdo_confs);
fp@329:     return 0;
fp@329: }
fp@329: 
fp@199: /******************************************************************************
fp@199:  *  Realtime interface
fp@199:  *****************************************************************************/
fp@199: 
fp@199: /**
fp@199:    \return 0 in case of success, else < 0
fp@199:    \ingroup RealtimeInterface
fp@199: */
fp@199: 
fp@329: int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                          uint16_t sdo_index, /**< SDO index */
fp@329:                          uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                          uint8_t value /**< new SDO value */
fp@329:                          )
fp@329: {
fp@329:     uint8_t data[1];
fp@329:     EC_WRITE_U8(data, value);
fp@329:     return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@329:    \return 0 in case of success, else < 0
fp@329:    \ingroup RealtimeInterface
fp@329: */
fp@329: 
fp@329: int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                           uint16_t sdo_index, /**< SDO index */
fp@329:                           uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                           uint16_t value /**< new SDO value */
fp@329:                           )
fp@329: {
fp@329:     uint8_t data[2];
fp@329:     EC_WRITE_U16(data, value);
fp@329:     return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@329:    \return 0 in case of success, else < 0
fp@329:    \ingroup RealtimeInterface
fp@329: */
fp@329: 
fp@329: int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                           uint16_t sdo_index, /**< SDO index */
fp@329:                           uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                           uint32_t value /**< new SDO value */
fp@329:                           )
fp@329: {
fp@329:     uint8_t data[4];
fp@329:     EC_WRITE_U32(data, value);
fp@329:     return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@329:    \return 0 in case of success, else < 0
fp@329:    \ingroup RealtimeInterface
fp@329: */
fp@329: 
fp@325: int ecrt_slave_pdo_size(ec_slave_t *slave, /**< EtherCAT slave */
fp@325:                         uint16_t pdo_index, /**< PDO index */
fp@325:                         uint8_t pdo_subindex, /**< PDO subindex */
fp@325:                         size_t size /**< new PDO size */
fp@325:                         )
fp@325: {
fp@325:     EC_WARN("ecrt_slave_pdo_size() currently not available.\n");
fp@325:     return -1;
fp@325: 
fp@325: #if 0
fp@275:     unsigned int i, j, field_counter;
fp@325:     const ec_sii_sync_t *sync;
fp@325:     const ec_pdo_t *pdo;
fp@275:     ec_varsize_t *var;
fp@275: 
fp@275:     if (!slave->type) {
fp@275:         EC_ERR("Slave %i has no type information!\n", slave->ring_position);
fp@275:         return -1;
fp@275:     }
fp@275: 
fp@275:     field_counter = 0;
fp@275:     for (i = 0; (sync = slave->type->sync_managers[i]); i++) {
fp@275:         for (j = 0; (field = sync->fields[j]); j++) {
fp@275:             if (!strcmp(field->name, field_name)) {
fp@275:                 if (field_counter++ == field_index) {
fp@275:                     // is the size of this field variable?
fp@275:                     if (field->size) {
fp@275:                         EC_ERR("Field \"%s\"[%i] of slave %i has no variable"
fp@275:                                " size!\n", field->name, field_index,
fp@275:                                slave->ring_position);
fp@275:                         return -1;
fp@275:                     }
fp@275:                     // does a size specification already exist?
fp@275:                     list_for_each_entry(var, &slave->varsize_fields, list) {
fp@275:                         if (var->field == field) {
fp@275:                             EC_WARN("Resizing field \"%s\"[%i] of slave %i.\n",
fp@275:                                     field->name, field_index,
fp@275:                                     slave->ring_position);
fp@275:                             var->size = size;
fp@275:                             return 0;
fp@275:                         }
fp@275:                     }
fp@275:                     // create a new size specification...
fp@275:                     if (!(var = kmalloc(sizeof(ec_varsize_t), GFP_KERNEL))) {
fp@275:                         EC_ERR("Failed to allocate memory for varsize_t!\n");
fp@275:                         return -1;
fp@275:                     }
fp@275:                     var->field = field;
fp@275:                     var->size = size;
fp@275:                     list_add_tail(&var->list, &slave->varsize_fields);
fp@275:                     return 0;
fp@275:                 }
fp@275:             }
fp@275:         }
fp@275:     }
fp@275: 
fp@275:     EC_ERR("Slave %i (\"%s %s\") has no field \"%s\"[%i]!\n",
fp@275:            slave->ring_position, slave->type->vendor_name,
fp@275:            slave->type->product_name, field_name, field_index);
fp@275:     return -1;
fp@325: #endif
fp@275: }
fp@275: 
fp@275: /*****************************************************************************/
fp@275: 
fp@199: /**< \cond */
fp@164: 
fp@329: EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
fp@329: EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
fp@329: EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
fp@325: EXPORT_SYMBOL(ecrt_slave_pdo_size);
fp@138: 
fp@199: /**< \endcond */
fp@199: 
fp@199: /*****************************************************************************/