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ethercat
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Removed mbox_command out of slave.

This commit is contained in:
Florian Pose 2006-06-21 10:09:36 +00:00
parent 90cc2fd7e7
commit dba003179f
7 changed files with 129 additions and 81 deletions
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112
master/canopen.c
View File

@ -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 @@ int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
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 @@ int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
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 @@ int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
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);
ec_command_clear(&command);
return 0;
err:
ec_command_clear(&command);
return -1;
}
/*****************************************************************************/
@ -120,13 +131,17 @@ int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
{
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;
goto err;
}
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
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 @@ int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
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 @@ int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
return -1;
}
ec_command_clear(&command);
return 0;
err:
ec_command_clear(&command);
return -1;
}
/*****************************************************************************/
@ -182,22 +202,27 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
uint8_t *data;
size_t rec_size, data_size;
uint32_t complete_size;
ec_command_t command;
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, 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 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
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);
ec_command_clear(&command);
return 0;
err:
ec_command_clear(&command);
return -1;
}
/*****************************************************************************/
@ -248,8 +278,12 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
unsigned int i, sdo_count;
ec_sdo_t *sdo;
uint16_t sdo_index;
ec_command_t command;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
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 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
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 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
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 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
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 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
while (EC_READ_U8(data + 2) & 0x80);
// Fetch all SDO descriptions
if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
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 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
\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 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
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 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
}
// 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_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
*/
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 @@ int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
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 @@ int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
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

30
master/ethernet.c
View File

@ -79,6 +79,7 @@ int ec_eoe_init(ec_eoe_t *eoe /**< EoE handler */)
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 @@ void ec_eoe_clear(ec_eoe_t *eoe /**< EoE handler */)
}
if (eoe->rx_skb) dev_kfree_skb(eoe->rx_skb);
ec_command_clear(&eoe->command);
}
/*****************************************************************************/
@ -235,8 +238,8 @@ int ec_eoe_send(ec_eoe_t *eoe /**< EoE handler */)
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 @@ int ec_eoe_send(ec_eoe_t *eoe /**< EoE handler */)
(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 @@ void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)
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_start(ec_eoe_t *eoe /**< EoE handler */)
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 @@ void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE handler */)
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_start(ec_eoe_t *eoe /**< EoE handler */)
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;

1
master/ethernet.h
View File

@ -73,6 +73,7 @@ struct ec_eoe
{
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 */

44
master/mailbox.c
View File

@ -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 @@ uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *slave, /**< slave */
\return 0 in case of success, else < 0
*/
int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< slave */)
int ec_slave_mbox_prepare_check(const ec_slave_t *slave, /**< slave */
ec_command_t *command /**< command */
)
{
ec_command_t *command = &slave->mbox_command;
// FIXME: second sync manager?
if (ec_command_nprd(command, slave->station_address, 0x808, 8))
return -1;
@ -110,9 +110,9 @@ int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< slave */)
\return 0 in case of success, else < 0
*/
int ec_slave_mbox_check(const ec_slave_t *slave /**< slave */)
int ec_slave_mbox_check(const ec_command_t *command /**< command */)
{
return EC_READ_U8(slave->mbox_command.data + 5) & 8 ? 1 : 0;
return EC_READ_U8(command->data + 5) & 8 ? 1 : 0;
}
/*****************************************************************************/
@ -122,10 +122,10 @@ int ec_slave_mbox_check(const ec_slave_t *slave /**< slave */)
\return 0 in case of success, else < 0
*/
int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< slave */)
int ec_slave_mbox_prepare_fetch(const ec_slave_t *slave, /**< slave */
ec_command_t *command /**< command */
)
{
ec_command_t *command = &slave->mbox_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 @@ int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< slave */)
\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 @@ uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< slave */
\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 @@ uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< slave */
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 @@ uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< slave */
\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 @@ uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< slave */
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 @@ uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< slave */
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 @@ uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< slave */
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);
}
/*****************************************************************************/

17
master/mailbox.h
View File

@ -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 *);
/*****************************************************************************/

4
master/slave.c
View File

@ -160,8 +160,6 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
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 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
if (slave->eeprom_data) kfree(slave->eeprom_data);
if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
ec_command_clear(&slave->mbox_command);
}
/*****************************************************************************/

2
master/slave.h
View File

@ -290,8 +290,6 @@ struct ec_slave
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 */