diff -r f149465f4c63 -r e675450f2174 master/canopen.c --- 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 -#include -#include - -#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 */ - -/*****************************************************************************/