fp@39: /******************************************************************************
fp@0:  *
fp@54:  *  s l a v e . c
fp@0:  *
fp@0:  *  Methoden für einen EtherCAT-Slave.
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@24: #include <linux/module.h>
fp@0: 
fp@54: #include "globals.h"
fp@54: #include "slave.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@0:    EtherCAT-Slave-Konstruktor.
fp@0: 
fp@0:    Initialisiert einen EtherCAT-Slave.
fp@0: 
fp@42:    ACHTUNG! Dieser Konstruktor wird quasi nie aufgerufen. Bitte immer das
fp@42:    Makro ECAT_INIT_SLAVE() in ec_slave.h anpassen!
fp@42: 
fp@0:    @param slave Zeiger auf den zu initialisierenden Slave
fp@0: */
fp@0: 
fp@54: void ec_slave_init(ec_slave_t *slave)
fp@0: {
fp@0:   slave->type = 0;
fp@0:   slave->revision = 0;
fp@0:   slave->build = 0;
fp@0:   slave->ring_position = 0;
fp@0:   slave->station_address = 0;
fp@0:   slave->vendor_id = 0;
fp@0:   slave->product_code = 0;
fp@0:   slave->revision_number = 0;
fp@5:   slave->serial_number = 0;
fp@39:   slave->desc = NULL;
fp@42:   slave->logical_address = 0;
fp@54:   slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fp@54:   slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
fp@42:   slave->process_data = NULL;
fp@42:   slave->domain = 0;
fp@39:   slave->error_reported = 0;
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@54: #if 0
fp@0: /**
fp@0:    Liest einen bestimmten Kanal des Slaves als Integer-Wert.
fp@0: 
fp@0:    Prüft zuerst, ob der entsprechende Slave eine
fp@0:    bekannte Beschreibung besitzt, ob dort eine
fp@0:    read()-Funktion hinterlegt ist und ob die angegebene
fp@0:    Kanalnummer gültig ist. Wenn ja, wird der dekodierte
fp@0:    Wert zurückgegeben, sonst ist der Wert 0.
fp@0: 
fp@0:    @param slave EtherCAT-Slave
fp@0:    @param channel Kanalnummer
fp@0: 
fp@0:    @return Gelesener Wert bzw. 0
fp@0: */
fp@0: 
fp@0: int EtherCAT_read_value(EtherCAT_slave_t *slave,
fp@0:                         unsigned int channel)
fp@0: {
fp@39:   if (unlikely(!slave->desc)) {
fp@39:     if (likely(slave->error_reported)) {
fp@39:       printk(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)"
fp@39:              " - Slave has no description.\n",
fp@39:              slave->station_address, (unsigned int) slave);
fp@39:       slave->error_reported = 1;
fp@39:     }
fp@0:     return 0;
fp@0:   }
fp@0: 
fp@39:   if (unlikely(!slave->desc->read)) {
fp@39:     if (likely(slave->error_reported)) {
fp@39:       printk(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)"
fp@39:              " - Slave type (%s %s) has no read method.\n",
fp@39:              slave->station_address, (unsigned int) slave,
fp@39:              slave->desc->vendor_name, slave->desc->product_name);
fp@39:       slave->error_reported = 1;
fp@39:     }
fp@0:     return 0;
fp@0:   }
fp@0: 
fp@42:   if (unlikely(channel >= slave->desc->channel_count)) {
fp@39:     if (likely(slave->error_reported)) {
fp@39:       printk(KERN_WARNING "EtherCAT: Reading failed on slave %4X (addr %0X)"
fp@39:              " - Type (%s %s) has no channel %i.\n",
fp@39:              slave->station_address, (unsigned int) slave,
fp@39:              slave->desc->vendor_name, slave->desc->product_name,
fp@39:              channel);
fp@39:       slave->error_reported = 1;
fp@39:     }
fp@0:     return 0;
fp@0:   }
fp@0: 
fp@42:   if (unlikely(!slave->process_data)) {
fp@42:     if (likely(slave->error_reported)) {
fp@42:       printk(KERN_WARNING "EtherCAT: Reading failed on slave %4X (addr %0X)"
fp@42:              " - Slave does not belong to any process data object!\n",
fp@42:              slave->station_address, (unsigned int) slave);
fp@42:       slave->error_reported = 1;
fp@42:     }
fp@42:     return 0;
fp@42:   }
fp@42: 
fp@39:   if (unlikely(slave->error_reported))
fp@39:     slave->error_reported = 0;
fp@39: 
fp@0:   return slave->desc->read(slave->process_data, channel);
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@0:    Schreibt einen bestimmten Kanal des Slaves als Integer-Wert .
fp@0: 
fp@0:    Prüft zuerst, ob der entsprechende Slave eine
fp@0:    bekannte Beschreibung besitzt, ob dort eine
fp@0:    write()-Funktion hinterlegt ist und ob die angegebene
fp@0:    Kanalnummer gültig ist. Wenn ja, wird der Wert entsprechend
fp@0:    kodiert und geschrieben.
fp@0: 
fp@0:    @param slave EtherCAT-Slave
fp@0:    @param channel Kanalnummer
fp@0:    @param value Zu schreibender Wert
fp@0: */
fp@0: 
fp@0: void EtherCAT_write_value(EtherCAT_slave_t *slave,
fp@0:                           unsigned int channel,
fp@0:                           int value)
fp@0: {
fp@39:   if (unlikely(!slave->desc)) {
fp@39:     if (likely(slave->error_reported)) {
fp@39:       printk(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)"
fp@39:              " - Slave has no description.\n",
fp@39:              slave->station_address, (unsigned int) slave);
fp@39:       slave->error_reported = 1;
fp@39:     }
fp@0:     return;
fp@0:   }
fp@0: 
fp@39:   if (unlikely(!slave->desc->write)) {
fp@39:     if (likely(slave->error_reported)) {
fp@39:       printk(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)"
fp@39:              " - Type (%s %s) has no write method.\n",
fp@39:              slave->station_address, (unsigned int) slave,
fp@39:              slave->desc->vendor_name, slave->desc->product_name);
fp@39:       slave->error_reported = 1;
fp@39:     }
fp@0:     return;
fp@0:   }
fp@0: 
fp@42:   if (unlikely(channel >= slave->desc->channel_count)) {
fp@39:     if (likely(slave->error_reported)) {
fp@39:       printk(KERN_WARNING "EtherCAT: Writing failed on slave %4X (addr %0X)"
fp@39:              " - Type (%s %s) has no channel %i.\n",
fp@39:              slave->station_address, (unsigned int) slave,
fp@39:              slave->desc->vendor_name, slave->desc->product_name,
fp@39:              channel);
fp@39:       slave->error_reported = 1;
fp@39:     }
fp@0:     return;
fp@0:   }
fp@0: 
fp@42:   if (unlikely(!slave->process_data)) {
fp@42:     if (likely(slave->error_reported)) {
fp@42:       printk(KERN_WARNING "EtherCAT: Writing failed on slave %4X (addr %0X)"
fp@42:              " - Slave does not belong to any process data object!\n",
fp@42:              slave->station_address, (unsigned int) slave);
fp@42:       slave->error_reported = 1;
fp@42:     }
fp@42:     return;
fp@42:   }
fp@42: 
fp@39:   if (unlikely(slave->error_reported))
fp@39:     slave->error_reported = 0;
fp@39: 
fp@0:   slave->desc->write(slave->process_data, channel, value);
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@24: 
fp@23: EXPORT_SYMBOL(EtherCAT_write_value);
fp@24: EXPORT_SYMBOL(EtherCAT_read_value);
fp@54: #endif
fp@39: 
fp@39: /*****************************************************************************/
fp@42: 
fp@42: /* Emacs-Konfiguration
fp@42: ;;; Local Variables: ***
fp@42: ;;; c-basic-offset:2 ***
fp@42: ;;; End: ***
fp@42: */