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ethercat
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Renamed SII fetching functions (non-functional).

This commit is contained in:
Florian Pose 2007-03-06 10:37:56 +00:00
parent 71f2050fa4
commit 924ebcd8c6
3 changed files with 49 additions and 39 deletions
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20
master/fsm_slave.c
View File

@ -508,27 +508,31 @@ void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state ma
switch (cat_type) {
case 0x000A:
if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
if (ec_slave_fetch_sii_strings(
slave, (uint8_t *) (cat_word + 2)))
goto end;
break;
case 0x001E:
ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
ec_slave_fetch_sii_general(
slave, (uint8_t *) (cat_word + 2));
break;
case 0x0028:
break;
case 0x0029:
if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
cat_size))
if (ec_slave_fetch_sii_syncs(
slave, (uint8_t *) (cat_word + 2), cat_size))
goto end;
break;
case 0x0032:
if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
cat_size, EC_TX_PDO))
if (ec_slave_fetch_sii_pdos(
slave, (uint8_t *) (cat_word + 2),
cat_size, EC_TX_PDO))
goto end;
break;
case 0x0033:
if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
cat_size, EC_RX_PDO))
if (ec_slave_fetch_sii_pdos(
slave, (uint8_t *) (cat_word + 2),
cat_size, EC_RX_PDO))
goto end;
break;
default:

56
master/slave.c
View File

@ -400,9 +400,10 @@ void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data /**< category data */
)
int ec_slave_fetch_sii_strings(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data /**< category data */
)
{
unsigned int string_count, i;
size_t size;
@ -438,16 +439,17 @@ int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
\return 0 in case of success, else < 0
*/
void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data /**< category data */
)
void ec_slave_fetch_sii_general(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data /**< category data */
)
{
unsigned int i;
ec_slave_locate_string(slave, data[0], &slave->sii_group);
ec_slave_locate_string(slave, data[1], &slave->sii_image);
ec_slave_locate_string(slave, data[2], &slave->sii_order);
ec_slave_locate_string(slave, data[3], &slave->sii_name);
ec_slave_locate_sii_string(slave, data[0], &slave->sii_group);
ec_slave_locate_sii_string(slave, data[1], &slave->sii_image);
ec_slave_locate_sii_string(slave, data[2], &slave->sii_order);
ec_slave_locate_sii_string(slave, data[3], &slave->sii_name);
for (i = 0; i < 4; i++)
slave->sii_physical_layer[i] =
@ -463,10 +465,11 @@ void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t word_count /**< number of words */
)
int ec_slave_fetch_sii_syncs(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t word_count /**< number of words */
)
{
unsigned int i;
ec_sii_sync_t *sync;
@ -502,11 +505,12 @@ int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t word_count, /**< number of words */
ec_sii_pdo_type_t pdo_type /**< PDO type */
)
int ec_slave_fetch_sii_pdos(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t word_count, /**< number of words */
ec_sii_pdo_type_t pdo_type /**< PDO type */
)
{
ec_sii_pdo_t *pdo;
ec_sii_pdo_entry_t *entry;
@ -526,7 +530,7 @@ int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
entry_count = EC_READ_U8(data + 2);
pdo->sync_index = EC_READ_U8(data + 3);
pdo->name = NULL;
ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);
ec_slave_locate_sii_string(slave, EC_READ_U8(data + 5), &pdo->name);
list_add_tail(&pdo->list, &slave->sii_pdos);
@ -543,7 +547,8 @@ int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
entry->index = EC_READ_U16(data);
entry->subindex = EC_READ_U8(data + 2);
entry->name = NULL;
ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);
ec_slave_locate_sii_string(
slave, EC_READ_U8(data + 3), &entry->name);
entry->bit_length = EC_READ_U8(data + 5);
list_add_tail(&entry->list, &pdo->entries);
@ -564,10 +569,11 @@ int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
\todo documentation
*/
int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index, /**< string index */
char **ptr /**< Address of the string pointer */
)
int ec_slave_locate_sii_string(
ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index, /**< string index */
char **ptr /**< Address of the string pointer */
)
{
ec_sii_string_t *string;
char *err_string;

12
master/slave.h
View File

@ -276,14 +276,14 @@ void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t);
// SII categories
int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
void ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t,
ec_sii_pdo_type_t);
int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *);
void ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
ec_sii_pdo_type_t);
// misc.
int ec_slave_locate_sii_string(ec_slave_t *, unsigned int, char **);
ec_sii_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
void ec_slave_sync_config(const ec_slave_t *, const ec_sii_sync_t *,
uint8_t *);