--- a/master/canopen.c Wed Jun 21 10:08:30 2006 +0000
+++ b/master/canopen.c Wed Jun 21 10:09:36 2006 +0000
@@ -48,8 +48,9 @@
/*****************************************************************************/
void ec_canopen_abort_msg(uint32_t);
-int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
-int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_sdo_t *, uint8_t);
+int ec_slave_fetch_sdo_descriptions(ec_slave_t *, ec_command_t *);
+int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_command_t *,
+ ec_sdo_t *, uint8_t);
/*****************************************************************************/
@@ -68,10 +69,14 @@
uint8_t *target /**< 4-byte memory */
)
{
+ ec_command_t command;
size_t rec_size;
uint8_t *data;
- if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
+ ec_command_init(&command);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, &command, 0x03, 6)))
+ goto err;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
@@ -79,14 +84,15 @@
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
- if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
+ if (!(data = ec_slave_mbox_simple_io(slave, &command, &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));
- return -1;
+ goto err;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
@@ -97,11 +103,16 @@
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
- return -1;
+ goto err;
}
memcpy(target, data + 6, 4);
- return 0;
+
+ ec_command_clear(&command);
+ return 0;
+ err:
+ ec_command_clear(&command);
+ return -1;
}
/*****************************************************************************/
@@ -120,13 +131,17 @@
{
uint8_t *data;
size_t rec_size;
+ ec_command_t command;
+
+ ec_command_init(&command);
if (size == 0 || size > 4) {
EC_ERR("Invalid data size!\n");
- return -1;
- }
-
- if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
+ goto err;
+ }
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, &command, 0x03, 0x0A)))
+ goto err;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size specified
@@ -138,7 +153,8 @@
memcpy(data + 6, sdo_data, size);
if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
- if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
+ if (!(data = ec_slave_mbox_simple_io(slave, &command, &rec_size)))
+ goto err;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
@@ -160,7 +176,11 @@
return -1;
}
- return 0;
+ ec_command_clear(&command);
+ return 0;
+ err:
+ ec_command_clear(&command);
+ return -1;
}
/*****************************************************************************/
@@ -182,22 +202,27 @@
uint8_t *data;
size_t rec_size, data_size;
uint32_t complete_size;
-
- if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
+ ec_command_t command;
+
+ ec_command_init(&command);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, &command, 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, &rec_size))) return -1;
+ if (!(data = ec_slave_mbox_simple_io(slave, &command, &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));
- return -1;
+ goto err;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
@@ -208,30 +233,35 @@
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
- return -1;
+ goto err;
}
if (rec_size < 10) {
EC_ERR("Received currupted SDO upload response!\n");
ec_print_data(data, rec_size);
- return -1;
+ 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);
- return -1;
+ goto err;
}
data_size = rec_size - 10;
if (data_size != complete_size) {
EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
- return -1;
+ goto err;
}
memcpy(target, data + 10, data_size);
- return 0;
+
+ ec_command_clear(&command);
+ return 0;
+ err:
+ ec_command_clear(&command);
+ return -1;
}
/*****************************************************************************/
@@ -248,8 +278,12 @@
unsigned int i, sdo_count;
ec_sdo_t *sdo;
uint16_t sdo_index;
-
- if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
+ ec_command_t command;
+
+ ec_command_init(&command);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, &command, 0x03, 8)))
+ goto err;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
@@ -257,21 +291,22 @@
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
- if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
+ if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
- return -1;
+ goto err;
}
do {
- if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
- return -1;
+ if (!(data = ec_slave_mbox_simple_receive(slave, &command,
+ 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));
- return -1;
+ goto err;
}
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
@@ -279,13 +314,13 @@
EC_ERR("Invalid SDO list response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
- return -1;
+ goto err;
}
if (rec_size < 8) {
EC_ERR("Invalid data size!\n");
ec_print_data(data, rec_size);
- return -1;
+ goto err;
}
sdo_count = (rec_size - 8) / 2;
@@ -295,7 +330,7 @@
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for SDO!\n");
- return -1;
+ goto err;
}
// Initialize SDO object
@@ -311,9 +346,13 @@
while (EC_READ_U8(data + 2) & 0x80);
// Fetch all SDO descriptions
- if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
-
- return 0;
+ if (ec_slave_fetch_sdo_descriptions(slave, &command)) goto err;
+
+ ec_command_clear(&command);
+ return 0;
+ err:
+ ec_command_clear(&command);
+ return -1;
}
/*****************************************************************************/
@@ -323,21 +362,25 @@
\return 0 in case of success, else < 0
*/
-int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
+int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave, /**< EtherCAT slave */
+ ec_command_t *command /**< command */
+ )
{
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, 0x03, 8))) return -1;
+ if (!(data = ec_slave_mbox_prepare_send(slave, command, 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, &rec_size))) return -1;
+ if (!(data = ec_slave_mbox_simple_io(slave, command, &rec_size)))
+ return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
@@ -364,8 +407,10 @@
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);
@@ -387,7 +432,8 @@
}
// Fetch all entries (subindices)
- if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
+ if (ec_slave_fetch_sdo_entries(slave, command, sdo,
+ EC_READ_U8(data + 10)))
return -1;
}
@@ -402,6 +448,7 @@
*/
int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
+ ec_command_t *command, /**< command */
ec_sdo_t *sdo, /**< SDO */
uint8_t subindices /**< number of subindices */
)
@@ -412,7 +459,7 @@
ec_sdo_entry_t *entry;
for (i = 1; i <= subindices; i++) {
- if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
+ if (!(data = ec_slave_mbox_prepare_send(slave, command, 0x03, 10)))
return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
@@ -423,7 +470,8 @@
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, &rec_size))) return -1;
+ if (!(data = ec_slave_mbox_simple_io(slave, command, &rec_size)))
+ return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
--- a/master/ethernet.c Wed Jun 21 10:08:30 2006 +0000
+++ b/master/ethernet.c Wed Jun 21 10:09:36 2006 +0000
@@ -79,6 +79,7 @@
int result, i;
eoe->slave = NULL;
+ ec_command_init(&eoe->command);
eoe->state = ec_eoe_state_rx_start;
eoe->opened = 0;
eoe->rx_skb = NULL;
@@ -159,6 +160,8 @@
}
if (eoe->rx_skb) dev_kfree_skb(eoe->rx_skb);
+
+ ec_command_clear(&eoe->command);
}
/*****************************************************************************/
@@ -235,8 +238,8 @@
printk("\n");
#endif
- if (!(data = ec_slave_mbox_prepare_send(eoe->slave, 0x02,
- current_size + 4)))
+ if (!(data = ec_slave_mbox_prepare_send(eoe->slave, &eoe->command,
+ 0x02, current_size + 4)))
return -1;
EC_WRITE_U8 (data, 0x00); // eoe fragment req.
@@ -246,7 +249,7 @@
(eoe->tx_frame_number & 0x0F) << 12));
memcpy(data + 4, eoe->tx_frame->skb->data + eoe->tx_offset, current_size);
- ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
+ ec_master_queue_command(eoe->slave->master, &eoe->command);
eoe->tx_offset += current_size;
eoe->tx_fragment_number++;
@@ -310,8 +313,8 @@
if (!eoe->slave->online || !eoe->slave->master->device->link_state)
return;
- ec_slave_mbox_prepare_check(eoe->slave);
- ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
+ ec_slave_mbox_prepare_check(eoe->slave, &eoe->command);
+ ec_master_queue_command(eoe->slave->master, &eoe->command);
eoe->state = ec_eoe_state_rx_check;
}
@@ -325,19 +328,19 @@
void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE handler */)
{
- if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ if (eoe->command.state != EC_CMD_RECEIVED) {
eoe->stats.rx_errors++;
eoe->state = ec_eoe_state_tx_start;
return;
}
- if (!ec_slave_mbox_check(eoe->slave)) {
+ if (!ec_slave_mbox_check(&eoe->command)) {
eoe->state = ec_eoe_state_tx_start;
return;
}
- ec_slave_mbox_prepare_fetch(eoe->slave);
- ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
+ ec_slave_mbox_prepare_fetch(eoe->slave, &eoe->command);
+ ec_master_queue_command(eoe->slave->master, &eoe->command);
eoe->state = ec_eoe_state_rx_fetch;
}
@@ -356,13 +359,14 @@
uint8_t frame_number, fragment_offset, fragment_number;
off_t offset;
- if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ if (eoe->command.state != EC_CMD_RECEIVED) {
eoe->stats.rx_errors++;
eoe->state = ec_eoe_state_tx_start;
return;
}
- if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
+ if (!(data = ec_slave_mbox_fetch(eoe->slave, &eoe->command,
+ 0x02, &rec_size))) {
eoe->stats.rx_errors++;
eoe->state = ec_eoe_state_tx_start;
return;
@@ -554,13 +558,13 @@
void ec_eoe_state_tx_sent(ec_eoe_t *eoe /**< EoE handler */)
{
- if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ if (eoe->command.state != EC_CMD_RECEIVED) {
eoe->stats.tx_errors++;
eoe->state = ec_eoe_state_rx_start;
return;
}
- if (eoe->slave->mbox_command.working_counter != 1) {
+ if (eoe->command.working_counter != 1) {
eoe->stats.tx_errors++;
eoe->state = ec_eoe_state_rx_start;
return;
--- a/master/ethernet.h Wed Jun 21 10:08:30 2006 +0000
+++ b/master/ethernet.h Wed Jun 21 10:09:36 2006 +0000
@@ -73,6 +73,7 @@
{
struct list_head list; /**< list item */
ec_slave_t *slave; /**< pointer to the corresponding slave */
+ ec_command_t command; /**< command */
void (*state)(ec_eoe_t *); /**< state function for the state machine */
struct net_device *dev; /**< net_device for virtual ethernet device */
struct net_device_stats stats; /**< device statistics */
--- a/master/mailbox.c Wed Jun 21 10:08:30 2006 +0000
+++ b/master/mailbox.c Wed Jun 21 10:09:36 2006 +0000
@@ -52,12 +52,12 @@
\return pointer to mailbox command data
*/
-uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *slave, /**< slave */
+uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t *slave, /**< slave */
+ ec_command_t *command, /**< command */
uint8_t type, /**< mailbox protocol */
size_t size /**< size of the data */
)
{
- ec_command_t *command = &slave->mbox_command;
size_t total_size;
if (unlikely(!slave->sii_mailbox_protocols)) {
@@ -92,10 +92,10 @@
\return 0 in case of success, else < 0
*/
-int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< slave */)
-{
- ec_command_t *command = &slave->mbox_command;
-
+int ec_slave_mbox_prepare_check(const ec_slave_t *slave, /**< slave */
+ ec_command_t *command /**< command */
+ )
+{
// FIXME: second sync manager?
if (ec_command_nprd(command, slave->station_address, 0x808, 8))
return -1;
@@ -110,9 +110,9 @@
\return 0 in case of success, else < 0
*/
-int ec_slave_mbox_check(const ec_slave_t *slave /**< slave */)
-{
- return EC_READ_U8(slave->mbox_command.data + 5) & 8 ? 1 : 0;
+int ec_slave_mbox_check(const ec_command_t *command /**< command */)
+{
+ return EC_READ_U8(command->data + 5) & 8 ? 1 : 0;
}
/*****************************************************************************/
@@ -122,10 +122,10 @@
\return 0 in case of success, else < 0
*/
-int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< slave */)
-{
- ec_command_t *command = &slave->mbox_command;
-
+int ec_slave_mbox_prepare_fetch(const ec_slave_t *slave, /**< slave */
+ ec_command_t *command /**< command */
+ )
+{
if (ec_command_nprd(command, slave->station_address,
slave->sii_tx_mailbox_offset,
slave->sii_tx_mailbox_size)) return -1;
@@ -139,12 +139,12 @@
\return pointer to the received data
*/
-uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< slave */
+uint8_t *ec_slave_mbox_fetch(const ec_slave_t *slave, /**< slave */
+ ec_command_t *command, /**< command */
uint8_t type, /**< expected mailbox protocol */
size_t *size /**< size of the received data */
)
{
- ec_command_t *command = &slave->mbox_command;
size_t data_size;
if ((EC_READ_U8(command->data + 5) & 0x0F) != type) {
@@ -171,14 +171,13 @@
\return pointer to the received data
*/
-uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< slave */
+uint8_t *ec_slave_mbox_simple_io(const ec_slave_t *slave, /**< slave */
+ ec_command_t *command, /**< command */
size_t *size /**< size of the received data */
)
{
uint8_t type;
- ec_command_t *command;
-
- command = &slave->mbox_command;
+
type = EC_READ_U8(command->data + 5);
if (unlikely(ec_master_simple_io(slave->master, command))) {
@@ -187,7 +186,7 @@
return NULL;
}
- return ec_slave_mbox_simple_receive(slave, type, size);
+ return ec_slave_mbox_simple_receive(slave, command, type, size);
}
/*****************************************************************************/
@@ -197,21 +196,20 @@
\return pointer to the received data
*/
-uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< slave */
+uint8_t *ec_slave_mbox_simple_receive(const ec_slave_t *slave, /**< slave */
+ ec_command_t *command, /**< command */
uint8_t type, /**< expected protocol */
size_t *size /**< received data size */
)
{
cycles_t start, end, timeout;
- ec_command_t *command;
-
- command = &slave->mbox_command;
+
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
- if (ec_slave_mbox_prepare_check(slave)) return NULL;
+ if (ec_slave_mbox_prepare_check(slave, command)) return NULL;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
@@ -220,7 +218,7 @@
end = get_cycles();
- if (ec_slave_mbox_check(slave))
+ if (ec_slave_mbox_check(command))
break; // proceed with receiving data
if ((end - start) >= timeout) {
@@ -232,7 +230,7 @@
udelay(100);
}
- if (ec_slave_mbox_prepare_fetch(slave)) return NULL;
+ if (ec_slave_mbox_prepare_fetch(slave, command)) return NULL;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
@@ -243,7 +241,7 @@
EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
/ cpu_khz));
- return ec_slave_mbox_fetch(slave, type, size);
-}
-
-/*****************************************************************************/
+ return ec_slave_mbox_fetch(slave, command, type, size);
+}
+
+/*****************************************************************************/
--- a/master/mailbox.h Wed Jun 21 10:08:30 2006 +0000
+++ b/master/mailbox.h Wed Jun 21 10:09:36 2006 +0000
@@ -45,14 +45,17 @@
/*****************************************************************************/
-uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *, uint8_t, size_t);
-int ec_slave_mbox_prepare_check(ec_slave_t *);
-int ec_slave_mbox_check(const ec_slave_t *);
-int ec_slave_mbox_prepare_fetch(ec_slave_t *);
-uint8_t *ec_slave_mbox_fetch(ec_slave_t *, uint8_t, size_t *);
+uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t *, ec_command_t *,
+ uint8_t, size_t);
+int ec_slave_mbox_prepare_check(const ec_slave_t *, ec_command_t *);
+int ec_slave_mbox_check(const ec_command_t *);
+int ec_slave_mbox_prepare_fetch(const ec_slave_t *, ec_command_t *);
+uint8_t *ec_slave_mbox_fetch(const ec_slave_t *, ec_command_t *,
+ uint8_t, size_t *);
-uint8_t *ec_slave_mbox_simple_io(ec_slave_t *, size_t *);
-uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *, uint8_t, size_t *);
+uint8_t *ec_slave_mbox_simple_io(const ec_slave_t *, ec_command_t *, size_t *);
+uint8_t *ec_slave_mbox_simple_receive(const ec_slave_t *, ec_command_t *,
+ uint8_t, size_t *);
/*****************************************************************************/
--- a/master/slave.c Wed Jun 21 10:08:30 2006 +0000
+++ b/master/slave.c Wed Jun 21 10:09:36 2006 +0000
@@ -160,8 +160,6 @@
slave->new_eeprom_data = NULL;
slave->new_eeprom_size = 0;
- ec_command_init(&slave->mbox_command);
-
INIT_LIST_HEAD(&slave->eeprom_strings);
INIT_LIST_HEAD(&slave->eeprom_syncs);
INIT_LIST_HEAD(&slave->eeprom_pdos);
@@ -250,8 +248,6 @@
if (slave->eeprom_data) kfree(slave->eeprom_data);
if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
-
- ec_command_clear(&slave->mbox_command);
}
/*****************************************************************************/
--- a/master/slave.h Wed Jun 21 10:08:30 2006 +0000
+++ b/master/slave.h Wed Jun 21 10:09:36 2006 +0000
@@ -290,8 +290,6 @@
struct list_head sdo_dictionary; /**< SDO directory list */
- ec_command_t mbox_command; /**< mailbox command */
-
ec_slave_state_t requested_state; /**< requested slave state */
ec_slave_state_t current_state; /**< current slave state */
unsigned int state_error; /**< a state error has happened */