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@293: #include "datagram.h"
fp@98: #include "master.h"
fp@792: #include "slave_config.h"
fp@792: 
fp@792: #include "slave.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@624: char *ec_slave_sii_string(ec_slave_t *, unsigned int);
fp@182: 
fp@182: /*****************************************************************************/
fp@182: 
fp@0: /**
fp@195:    Slave constructor.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@992: void ec_slave_init(
fp@992:         ec_slave_t *slave, /**< EtherCAT slave */
fp@992:         ec_master_t *master, /**< EtherCAT master */
fp@992:         uint16_t ring_position, /**< ring position */
fp@992:         uint16_t station_address /**< station address to configure */
fp@992:         )
fp@73: {
fp@142:     unsigned int i;
fp@142: 
fp@1000:     slave->master = master;
fp@182:     slave->ring_position = ring_position;
fp@182:     slave->station_address = station_address;
fp@182: 
fp@792:     slave->config = NULL;
fp@656:     slave->requested_state = EC_SLAVE_STATE_PREOP;
fp@325:     slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fp@325:     slave->error_flag = 0;
fp@908:     slave->force_config = 0;
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@325: 
fp@1055:     for (i = 0; i < EC_MAX_PORTS; i++) {
fp@1000:         slave->ports[i].dl_link = 0;
fp@1000:         slave->ports[i].dl_loop = 0;
fp@1000:         slave->ports[i].dl_signal = 0;
fp@1000:         slave->sii.physical_layer[i] = 0xFF;
fp@1000:     }
fp@1000: 
fp@977:     slave->sii_words = NULL;
fp@977:     slave->sii_nwords = 0;
fp@325: 
fp@834:     slave->sii.alias = 0;
fp@834:     slave->sii.vendor_id = 0;
fp@834:     slave->sii.product_code = 0;
fp@834:     slave->sii.revision_number = 0;
fp@834:     slave->sii.serial_number = 0;
fp@834:     slave->sii.rx_mailbox_offset = 0;
fp@834:     slave->sii.rx_mailbox_size = 0;
fp@834:     slave->sii.tx_mailbox_offset = 0;
fp@834:     slave->sii.tx_mailbox_size = 0;
fp@834:     slave->sii.mailbox_protocols = 0;
fp@835: 
fp@835:     slave->sii.strings = NULL;
fp@835:     slave->sii.string_count = 0;
fp@835: 
fp@835:     slave->sii.has_general = 0;
fp@834:     slave->sii.group = NULL;
fp@834:     slave->sii.image = NULL;
fp@834:     slave->sii.order = NULL;
fp@834:     slave->sii.name = NULL;
fp@835:     memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
fp@836:     memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
fp@834:     slave->sii.current_on_ebus = 0;
fp@834: 
fp@834:     slave->sii.syncs = NULL;
fp@834:     slave->sii.sync_count = 0;
fp@835: 
fp@834:     INIT_LIST_HEAD(&slave->sii.pdos);
fp@835: 
fp@135:     INIT_LIST_HEAD(&slave->sdo_dictionary);
fp@145: 
fp@419:     slave->sdo_dictionary_fetched = 0;
fp@419:     slave->jiffies_preop = 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@195:    Slave destructor.
fp@448:    Clears and frees a slave object.
fp@448: */
fp@448: 
fp@992: void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
fp@448: {
fp@448:     ec_sdo_t *sdo, *next_sdo;
fp@992:     unsigned int i;
fp@992:     ec_pdo_t *pdo, *next_pdo;
fp@448: 
fp@792:     if (slave->config)
fp@792:         ec_slave_config_detach(slave->config);
fp@792: 
fp@814:     // free all Sdos
fp@448:     list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
fp@448:         list_del(&sdo->list);
fp@992:         ec_sdo_clear(sdo);
fp@992:         kfree(sdo);
fp@992:     }
fp@182: 
fp@624:     // free all strings
fp@834:     if (slave->sii.strings) {
fp@834:         for (i = 0; i < slave->sii.string_count; i++)
fp@834:             kfree(slave->sii.strings[i]);
fp@834:         kfree(slave->sii.strings);
fp@118:     }
fp@121: 
fp@195:     // free all sync managers
fp@870:     ec_slave_clear_sync_managers(slave);
fp@126: 
fp@814:     // free all SII Pdos
fp@834:     list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
fp@126:         list_del(&pdo->list);
fp@627:         ec_pdo_clear(pdo);
fp@126:         kfree(pdo);
fp@126:     }
fp@126: 
fp@977:     if (slave->sii_words)
fp@977:         kfree(slave->sii_words);
fp@482: }
fp@482: 
fp@482: /*****************************************************************************/
fp@482: 
fp@870: /** Clear the sync manager array. 
fp@870:  */
fp@870: void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)
fp@870: {
fp@870:     unsigned int i;
fp@870: 
fp@870:     if (slave->sii.syncs) {
fp@870:         for (i = 0; i < slave->sii.sync_count; i++) {
fp@870:             ec_sync_clear(&slave->sii.syncs[i]);
fp@870:         }
fp@870:         kfree(slave->sii.syncs);
fp@870:         slave->sii.syncs = NULL;
fp@870:     }
fp@870: }
fp@870: 
fp@870: /*****************************************************************************/
fp@870: 
fp@482: /**
fp@610:  * Sets the application state of a slave.
fp@610:  */
fp@610: 
fp@610: void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
fp@610:         ec_slave_state_t new_state /**< new application state */
fp@610:         )
fp@610: {
fp@610:     if (new_state != slave->current_state) {
fp@610:         if (slave->master->debug_level) {
fp@610:             char old_state[EC_STATE_STRING_SIZE],
fp@610:                 cur_state[EC_STATE_STRING_SIZE];
fp@610:             ec_state_string(slave->current_state, old_state);
fp@610:             ec_state_string(new_state, cur_state);
fp@784:             EC_DBG("Slave %u: %s -> %s.\n",
fp@610:                    slave->ring_position, old_state, cur_state);
fp@610:         }
fp@610:         slave->current_state = new_state;
fp@610:     }
fp@610: }
fp@610: 
fp@610: /*****************************************************************************/
fp@610: 
fp@610: /**
fp@758:  * Request a slave state and resets the error flag.
fp@446:  */
fp@446: 
fp@635: void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
fp@446:                             ec_slave_state_t state /**< new state */
fp@446:                             )
fp@446: {
fp@446:     slave->requested_state = state;
fp@446:     slave->error_flag = 0;
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@446: /**
fp@195:    Fetches data from a STRING category.
fp@742:    \todo range checking
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@620: int ec_slave_fetch_sii_strings(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@742:         const uint8_t *data, /**< category data */
fp@742:         size_t data_size /**< number of bytes */
fp@620:         )
fp@118: {
fp@624:     int i;
fp@118:     size_t size;
fp@118:     off_t offset;
fp@624: 
fp@834:     slave->sii.string_count = data[0];
fp@834: 
fp@834:     if (!slave->sii.string_count)
fp@624:         return 0;
fp@624: 
fp@834:     if (!(slave->sii.strings =
fp@834:                 kmalloc(sizeof(char *) * slave->sii.string_count,
fp@624:                     GFP_KERNEL))) {
fp@624:         EC_ERR("Failed to allocate string array memory.\n");
fp@624:         goto out_zero;
fp@624:     }
fp@624: 
fp@118:     offset = 1;
fp@834:     for (i = 0; i < slave->sii.string_count; i++) {
fp@118:         size = data[offset];
fp@195:         // allocate memory for string structure and data at a single blow
fp@834:         if (!(slave->sii.strings[i] =
fp@624:                     kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
fp@118:             EC_ERR("Failed to allocate string memory.\n");
fp@624:             goto out_free;
fp@624:         }
fp@834:         memcpy(slave->sii.strings[i], data + offset + 1, size);
fp@834:         slave->sii.strings[i][size] = 0x00; // append binary zero
fp@118:         offset += 1 + size;
fp@118:     }
fp@118: 
fp@118:     return 0;
fp@624: 
fp@624: out_free:
fp@834:     for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);
fp@834:     kfree(slave->sii.strings);
fp@834:     slave->sii.strings = NULL;
fp@624: out_zero:
fp@834:     slave->sii.string_count = 0;
fp@624:     return -1;
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@742: int ec_slave_fetch_sii_general(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@742:         const uint8_t *data, /**< category data */
fp@742:         size_t data_size /**< size in bytes */
fp@620:         )
fp@123: {
fp@190:     unsigned int i;
fp@876:     uint8_t flags;
fp@190: 
fp@742:     if (data_size != 32) {
fp@742:         EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
fp@742:                 data_size, slave->ring_position);
fp@742:         return -1;
fp@742:     }
fp@742: 
fp@834:     slave->sii.group = ec_slave_sii_string(slave, data[0]);
fp@834:     slave->sii.image = ec_slave_sii_string(slave, data[1]);
fp@834:     slave->sii.order = ec_slave_sii_string(slave, data[2]);
fp@834:     slave->sii.name = ec_slave_sii_string(slave, data[3]);
fp@123: 
fp@190:     for (i = 0; i < 4; i++)
fp@834:         slave->sii.physical_layer[i] =
fp@195:             (data[4] & (0x03 << (i * 2))) >> (i * 2);
fp@499: 
fp@876:     // read CoE details
fp@876:     flags = EC_READ_U8(data + 5);
fp@876:     slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;
fp@876:     slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;
fp@876:     slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;
fp@876:     slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;
fp@876:     slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;
fp@876:     slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
fp@876: 
fp@876:     // read general flags
fp@876:     flags = EC_READ_U8(data + 0x000B);
fp@876:     slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;
fp@876:     slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
fp@876: 
fp@834:     slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
fp@835:     slave->sii.has_general = 1;
fp@742:     return 0;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@870: /** Fetches data from a SYNC MANAGER category.
fp@870:  *
fp@870:  * Appends the sync managers described in the category to the existing ones.
fp@870:  *
fp@870:  * \return 0 in case of success, else < 0
fp@870:  */
fp@620: int ec_slave_fetch_sii_syncs(
fp@870:         ec_slave_t *slave, /**< EtherCAT slave. */
fp@870:         const uint8_t *data, /**< Category data. */
fp@870:         size_t data_size /**< Number of bytes. */
fp@870:         )
fp@870: {
fp@870:     unsigned int i, count, total_count;
fp@626:     ec_sync_t *sync;
fp@742:     size_t memsize;
fp@870:     ec_sync_t *syncs;
fp@870:     uint8_t index;
fp@742: 
fp@742:     // one sync manager struct is 4 words long
fp@742:     if (data_size % 8) {
fp@870:         EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",
fp@742:                 data_size, slave->ring_position);
fp@742:         return -1;
fp@742:     }
fp@742: 
fp@870:     count = data_size / 8;
fp@870: 
fp@870:     if (count) {
fp@870:         total_count = count + slave->sii.sync_count;
fp@1055:         if (total_count > EC_MAX_SYNCS) {
fp@1055:             EC_ERR("Exceeded maximum number of sync managers!\n");
fp@1055:             return -1;
fp@1055:         }
fp@870:         memsize = sizeof(ec_sync_t) * total_count;
fp@870:         if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
fp@870:             EC_ERR("Failed to allocate %u bytes for sync managers.\n",
fp@870:                     memsize);
fp@870:             return -1;
fp@870:         }
fp@870: 
fp@873:         for (i = 0; i < slave->sii.sync_count; i++)
fp@873:             ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
fp@870: 
fp@870:         // initialize new sync managers
fp@870:         for (i = 0; i < count; i++, data += 8) {
fp@870:             index = i + slave->sii.sync_count;
fp@870:             sync = &syncs[index];
fp@870: 
fp@1055:             ec_sync_init(sync, slave);
fp@870:             sync->physical_start_address = EC_READ_U16(data);
fp@1055:             sync->default_length = EC_READ_U16(data + 2);
fp@870:             sync->control_register = EC_READ_U8(data + 4);
fp@870:             sync->enable = EC_READ_U8(data + 6);
fp@870:         }
fp@870: 
fp@870:         if (slave->sii.syncs)
fp@870:             kfree(slave->sii.syncs);
fp@870:         slave->sii.syncs = syncs;
fp@870:         slave->sii.sync_count = total_count;
fp@870:     }
fp@870: 
fp@126:     return 0;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@814:    Fetches data from a [RT]XPdo category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@620: int ec_slave_fetch_sii_pdos(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@620:         const uint8_t *data, /**< category data */
fp@742:         size_t data_size, /**< number of bytes */
fp@814:         ec_direction_t dir /**< Pdo direction. */
fp@620:         )
fp@126: {
fp@625:     ec_pdo_t *pdo;
fp@625:     ec_pdo_entry_t *entry;
fp@126:     unsigned int entry_count, i;
fp@126: 
fp@742:     while (data_size >= 8) {
fp@625:         if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@814:             EC_ERR("Failed to allocate Pdo memory.\n");
fp@126:             return -1;
fp@126:         }
fp@126: 
fp@627:         ec_pdo_init(pdo);
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@792:         if (ec_pdo_set_name(pdo,
fp@792:                 ec_slave_sii_string(slave, EC_READ_U8(data + 5)))) {
fp@792:             ec_pdo_clear(pdo);
fp@792:             kfree(pdo);
fp@792:             return -1;
fp@792:         }
fp@834:         list_add_tail(&pdo->list, &slave->sii.pdos);
fp@126: 
fp@742:         data_size -= 8;
fp@126:         data += 8;
fp@126: 
fp@126:         for (i = 0; i < entry_count; i++) {
fp@625:             if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
fp@814:                 EC_ERR("Failed to allocate Pdo entry memory.\n");
fp@126:                 return -1;
fp@126:             }
fp@126: 
fp@792:             ec_pdo_entry_init(entry);
fp@325:             entry->index = EC_READ_U16(data);
fp@325:             entry->subindex = EC_READ_U8(data + 2);
fp@792:             if (ec_pdo_entry_set_name(entry,
fp@792:                     ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {
fp@792:                 ec_pdo_entry_clear(entry);
fp@792:                 kfree(entry);
fp@792:                 return -1;
fp@792:             }
fp@325:             entry->bit_length = EC_READ_U8(data + 5);
fp@126:             list_add_tail(&entry->list, &pdo->entries);
fp@126: 
fp@742:             data_size -= 8;
fp@126:             data += 8;
fp@126:         }
fp@635: 
fp@814:         // if sync manager index is positive, the Pdo is mapped by default
fp@635:         if (pdo->sync_index >= 0) {
fp@762:             ec_sync_t *sync;
fp@635: 
fp@1055:             if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
fp@814:                 EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
fp@635:                         pdo->sync_index, pdo->index, slave->ring_position);
fp@635:                 return -1;
fp@635:             }
fp@635: 
fp@879:             if (ec_pdo_list_add_pdo_copy(&sync->pdos, pdo))
fp@635:                 return -1;
fp@792: 
fp@879:             sync->assign_source = EC_ASSIGN_SII;
fp@635:         }
fp@126:     }
fp@126: 
fp@126:     return 0;
fp@114: }
fp@114: 
fp@114: /*****************************************************************************/
fp@114: 
fp@114: /**
fp@784:    Searches the string list for an index.
fp@195:    \return 0 in case of success, else < 0
fp@197: */
fp@197: 
fp@624: char *ec_slave_sii_string(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@624:         unsigned int index /**< string index */
fp@620:         )
fp@123: {
fp@624:     if (!index--) 
fp@624:         return NULL;
fp@624: 
fp@834:     if (index >= slave->sii.string_count) {
fp@624:         if (slave->master->debug_level)
fp@784:             EC_WARN("String %u not found in slave %u.\n",
fp@624:                     index, slave->ring_position);
fp@624:         return NULL;
fp@624:     }
fp@624: 
fp@834:     return slave->sii.strings[index];
fp@123: }
fp@123: 
fp@123: /*****************************************************************************/
fp@123: 
fp@133: /**
fp@980:  * Writes SII contents to a slave.
fp@980:  * \return Zero on success, otherwise error code.
fp@980:  */
fp@980: 
fp@980: int ec_slave_write_sii(
fp@980:         ec_slave_t *slave, /**< EtherCAT slave */
fp@980:         uint16_t offset, /**< SII word offset. */
fp@980:         unsigned int nwords, /**< Number of words. */
fp@980:         const uint16_t *words /**< New SII data. */
fp@980:         )
fp@980: {
fp@980:     ec_master_t *master = slave->master;
fp@872:     ec_sii_write_request_t request;
fp@269: 
fp@872:     // init SII write request
fp@601:     INIT_LIST_HEAD(&request.list);
fp@601:     request.slave = slave;
fp@980:     request.words = words;
fp@980:     request.offset = offset;
fp@980:     request.nwords = nwords;
fp@980:     request.state = EC_REQUEST_QUEUED;
fp@980: 
fp@980:     // schedule SII write request.
fp@980:     down(&master->sii_sem);
fp@980:     list_add_tail(&request.list, &master->sii_requests);
fp@980:     up(&master->sii_sem);
fp@980: 
fp@980:     // wait for processing through FSM
fp@980:     if (wait_event_interruptible(master->sii_queue,
fp@980:                 request.state != EC_REQUEST_QUEUED)) {
fp@980:         // interrupted by signal
fp@980:         down(&master->sii_sem);
fp@980:         if (request.state == EC_REQUEST_QUEUED) {
fp@980:             list_del(&request.list);
fp@980:             up(&master->sii_sem);
fp@980:             return -EINTR;
fp@980:         }
fp@980:         // request already processing: interrupt not possible.
fp@980:         up(&master->sii_sem);
fp@980:     }
fp@980: 
fp@980:     // wait until master FSM has finished processing
fp@980:     wait_event(master->sii_queue,
fp@980:             request.state != EC_REQUEST_BUSY);
fp@980: 
fp@980:     if (request.state == EC_REQUEST_SUCCESS) {
fp@980:         if (offset <= 4 && offset + nwords > 4) { // alias was written
fp@980:             slave->sii.alias = EC_READ_U16(words + 4);
fp@980:         }
fp@980:         return 0;
fp@980:     } else {
fp@980:         return -EIO;
fp@980:     }
fp@607: }
fp@607: 
fp@269: /*****************************************************************************/
fp@269: 
fp@1055: /** Get the sync manager given an index.
fp@1055:  *
fp@758:  * \return pointer to sync manager, or NULL.
fp@619:  */
fp@1055: ec_sync_t *ec_slave_get_sync(
fp@912:         ec_slave_t *slave, /**< EtherCAT slave. */
fp@1055:         uint8_t sync_index /**< Sync manager index. */
fp@1055:         )
fp@1055: {
fp@1055:     if (sync_index < slave->sii.sync_count) {
fp@1055:         return &slave->sii.syncs[sync_index];
fp@1055:     } else {
fp@635:         return NULL;
fp@635:     }
fp@619: }
fp@619: 
fp@619: /*****************************************************************************/
fp@619: 
fp@619: /**
fp@814:    Counts the total number of Sdos and entries in the dictionary.
fp@423: */
fp@423: 
fp@423: void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
fp@814:                             unsigned int *sdo_count, /**< number of Sdos */
fp@423:                             unsigned int *entry_count /**< total number of
fp@423:                                                          entries */
fp@423:                             )
fp@423: {
fp@423:     unsigned int sdos = 0, entries = 0;
fp@423:     ec_sdo_t *sdo;
fp@423:     ec_sdo_entry_t *entry;
fp@423: 
fp@423:     list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
fp@423:         sdos++;
fp@423:         list_for_each_entry(entry, &sdo->entries, list) {
fp@423:             entries++;
fp@423:         }
fp@423:     }
fp@423: 
fp@423:     *sdo_count = sdos;
fp@423:     *entry_count = entries;
fp@423: }
fp@423: 
fp@740: /*****************************************************************************/
fp@740: 
fp@740: /**
fp@814:  * Get an Sdo from the dictionary.
fp@814:  * \returns The desired Sdo, or NULL.
fp@740:  */
fp@740: 
fp@740: ec_sdo_t *ec_slave_get_sdo(
fp@964:         ec_slave_t *slave, /**< EtherCAT slave */
fp@814:         uint16_t index /**< Sdo index */
fp@740:         )
fp@740: {
fp@740:     ec_sdo_t *sdo;
fp@740: 
fp@740:     list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
fp@967:         if (sdo->index != index)
fp@967:             continue;
fp@967:         return sdo;
fp@967:     }
fp@967: 
fp@967:     return NULL;
fp@967: }
fp@967: 
fp@967: /*****************************************************************************/
fp@967: 
fp@967: /**
fp@967:  * Get an Sdo from the dictionary.
fp@967:  *
fp@967:  * const version.
fp@967:  *
fp@967:  * \returns The desired Sdo, or NULL.
fp@967:  */
fp@967: 
fp@967: const ec_sdo_t *ec_slave_get_sdo_const(
fp@967:         const ec_slave_t *slave, /**< EtherCAT slave */
fp@967:         uint16_t index /**< Sdo index */
fp@967:         )
fp@967: {
fp@967:     const ec_sdo_t *sdo;
fp@967: 
fp@967:     list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
fp@967:         if (sdo->index != index)
fp@967:             continue;
fp@740:         return sdo;
fp@740:     }
fp@740: 
fp@740:     return NULL;
fp@740: }
fp@740: 
fp@792: /*****************************************************************************/
fp@799: 
fp@964: /** Get an Sdo from the dictionary, given its position in the list.
fp@964:  * \returns The desired Sdo, or NULL.
fp@964:  */
fp@964: 
fp@964: const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
fp@964:         const ec_slave_t *slave, /**< EtherCAT slave. */
fp@964:         uint16_t sdo_position /**< Sdo list position. */
fp@964:         )
fp@964: {
fp@964:     const ec_sdo_t *sdo;
fp@964: 
fp@964:     list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
fp@964:         if (sdo_position--)
fp@964:             continue;
fp@964:         return sdo;
fp@964:     }
fp@964: 
fp@964:     return NULL;
fp@964: }
fp@964: 
fp@964: /*****************************************************************************/
fp@964: 
fp@964: /** Get the number of Sdos in the dictionary.
fp@964:  * \returns Sdo count.
fp@964:  */
fp@964: 
fp@964: uint16_t ec_slave_sdo_count(
fp@964:         const ec_slave_t *slave /**< EtherCAT slave. */
fp@964:         )
fp@964: {
fp@964:     const ec_sdo_t *sdo;
fp@964:     uint16_t count = 0;
fp@964: 
fp@964:     list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
fp@964:         count++;
fp@964:     }
fp@964: 
fp@964:     return count;
fp@964: }
fp@964: 
fp@964: /*****************************************************************************/
fp@964: 
fp@799: /** Finds a mapped Pdo.
fp@799:  * \returns The desired Pdo object, or NULL.
fp@799:  */
fp@799: const ec_pdo_t *ec_slave_find_pdo(
fp@799:         const ec_slave_t *slave, /**< Slave. */
fp@799:         uint16_t index /**< Pdo index to find. */
fp@799:         )
fp@799: {
fp@799:     unsigned int i;
fp@799:     const ec_sync_t *sync;
fp@799:     const ec_pdo_t *pdo;
fp@799: 
fp@834:     for (i = 0; i < slave->sii.sync_count; i++) {
fp@834:         sync = &slave->sii.syncs[i];
fp@799: 
fp@879:         if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
fp@799:             continue;
fp@799: 
fp@799:         return pdo;
fp@799:     }
fp@799: 
fp@799:     return NULL;
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/