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ethercat
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Added ec_slave_validate()

This commit is contained in:
Florian Pose 2006-10-18 08:59:53 +00:00
parent 25964ccc9a
commit 41a6b5bfee
3 changed files with 25 additions and 9 deletions
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11
master/domain.c
View File

@ -439,16 +439,9 @@ ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
master = domain->master;
// translate address
// translate address and validate slave
if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
if (vendor_id != slave->sii_vendor_id ||
product_code != slave->sii_product_code) {
EC_ERR("Invalid slave type at position %i - Requested: 0x%08X 0x%08X,"
" found: 0x%08X 0x%08X\".\n", slave->ring_position, vendor_id,
product_code, slave->sii_vendor_id, slave->sii_product_code);
return NULL;
}
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
if (!data_ptr) {
// data_ptr is NULL => mark slave as "registered" (do not warn)

21
master/slave.c
View File

@ -903,6 +903,27 @@ int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
return 0;
}
/*****************************************************************************/
/**
\return 0 in case of success, else < 0
*/
int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
uint32_t vendor_id, /**< vendor ID */
uint32_t product_code /**< product code */
)
{
if (vendor_id != slave->sii_vendor_id ||
product_code != slave->sii_product_code) {
EC_ERR("Invalid slave type at position %i - Requested: 0x%08X 0x%08X,"
" found: 0x%08X 0x%08X\".\n", slave->ring_position, vendor_id,
product_code, slave->sii_vendor_id, slave->sii_product_code);
return -1;
}
return 0;
}
/******************************************************************************
* Realtime interface
*****************************************************************************/

2
master/slave.h
View File

@ -271,6 +271,8 @@ uint16_t ec_slave_calc_sync_size(const ec_slave_t *,
int ec_slave_is_coupler(const ec_slave_t *);
int ec_slave_has_subbus(const ec_slave_t *);
int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t);
/*****************************************************************************/
#endif