slave.c

    EC_WRITE_U16(data,     sync->physical_start_address);
    EC_WRITE_U16(data + 2, sync_size);
    EC_WRITE_U8 (data + 4, sync->control_register);
    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
    EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
}

/*****************************************************************************/

/**
   Initializes an FMMU configuration page.
   The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
*/

void ec_slave_fmmu_config(const ec_slave_t *slave, /**< EtherCAT slave */
        const ec_fmmu_t *fmmu, /**< FMMU */
        uint8_t *data /**> configuration memory */
        )
{
    size_t sync_size;

    sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);

    if (slave->master->debug_level) {
        EC_DBG("Slave %3i, FMMU %2i:"
               " LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
               slave->ring_position, fmmu->index, fmmu->logical_start_address,
               sync_size, fmmu->sync->physical_start_address,
               ((fmmu->sync->control_register & 0x04) ? "out" : "in"));
    }

    EC_WRITE_U32(data,      fmmu->logical_start_address);
    EC_WRITE_U16(data + 4,  sync_size); // size of fmmu
    EC_WRITE_U8 (data + 6,  0x00); // logical start bit
    EC_WRITE_U8 (data + 7,  0x07); // logical end bit
    EC_WRITE_U16(data + 8,  fmmu->sync->physical_start_address);
    EC_WRITE_U8 (data + 10, 0x00); // physical start bit
    EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
                             ? 0x02 : 0x01));
    EC_WRITE_U16(data + 12, 0x0001); // enable
    EC_WRITE_U16(data + 14, 0x0000); // reserved
}

/*****************************************************************************/

/**
   \return non-zero if slave is a bus coupler
*/

int ec_slave_is_coupler(const ec_slave_t *slave /**< EtherCAT slave */)
{
    // TODO: Better bus coupler criterion
    return slave->sii_vendor_id == 0x00000002
        && slave->sii_product_code == 0x044C2C52;
}

/*****************************************************************************/

/**
   \return non-zero if slave is a bus coupler
*/

int ec_slave_has_subbus(const ec_slave_t *slave /**< EtherCAT slave */)
{
    return slave->sii_vendor_id == 0x00000002
        && slave->sii_product_code == 0x04602c22;
}

/*****************************************************************************/

/**
   \return 0 in case of success, else < 0
*/

int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
                      uint16_t sdo_index, /**< SDO index */
                      uint8_t sdo_subindex, /**< SDO subindex */
                      const uint8_t *data, /**< SDO data */
                      size_t size /**< SDO size in bytes */
                      )
{
    ec_sdo_data_t *sdodata;

    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
        EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
        return -1;
    }

    if (!(sdodata = (ec_sdo_data_t *)
          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
        EC_ERR("Failed to allocate memory for SDO configuration object!\n");
        return -1;
    }

    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
        EC_ERR("Failed to allocate memory for SDO configuration data!\n");
        kfree(sdodata);
        return -1;
    }

    sdodata->index = sdo_index;
    sdodata->subindex = sdo_subindex;
    memcpy(sdodata->data, data, size);
    sdodata->size = size;

    list_add_tail(&sdodata->list, &slave->sdo_confs);
    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;
}

/*****************************************************************************/

/**
   Counts the total number of SDOs and entries in the dictionary.
*/

void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
                            unsigned int *sdo_count, /**< number of SDOs */
                            unsigned int *entry_count /**< total number of
                                                         entries */
                            )
{
    unsigned int sdos = 0, entries = 0;
    ec_sdo_t *sdo;
    ec_sdo_entry_t *entry;

    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
        sdos++;
        list_for_each_entry(entry, &sdo->entries, list) {
            entries++;
        }
    }

    *sdo_count = sdos;
    *entry_count = entries;
}

/******************************************************************************
 *  Realtime interface
 *****************************************************************************/

/**
   \return 0 in case of success, else < 0
   \ingroup RealtimeInterface
*/

int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
                         uint16_t sdo_index, /**< SDO index */
                         uint8_t sdo_subindex, /**< SDO subindex */
                         uint8_t value /**< new SDO value */
                         )
{
    uint8_t data[1];
    EC_WRITE_U8(data, value);
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
}

/*****************************************************************************/

/**
   \return 0 in case of success, else < 0
   \ingroup RealtimeInterface
*/

int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
                          uint16_t sdo_index, /**< SDO index */
                          uint8_t sdo_subindex, /**< SDO subindex */
                          uint16_t value /**< new SDO value */
                          )
{
    uint8_t data[2];
    EC_WRITE_U16(data, value);
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
}

/*****************************************************************************/

/**
   \return 0 in case of success, else < 0
   \ingroup RealtimeInterface
*/

int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
                          uint16_t sdo_index, /**< SDO index */
                          uint8_t sdo_subindex, /**< SDO subindex */
                          uint32_t value /**< new SDO value */
                          )
{
    uint8_t data[4];
    EC_WRITE_U32(data, value);
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
}

/*****************************************************************************/

/** \cond */

EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);

/** \endcond */

/*****************************************************************************/