From 221d24ec721e9cca9b3e18ca2f9d35964ada6402 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Wed, 18 Oct 2006 08:59:53 +0000
Subject: [PATCH] Added ec_slave_validate()
---
master/domain.c | 11 ++---------
master/slave.c | 21 +++++++++++++++++++++
master/slave.h | 2 ++
3 files changed, 25 insertions(+), 9 deletions(-)
diff --git a/master/domain.c b/master/domain.c
index 87e4c230..13b57eef 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -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)
diff --git a/master/slave.c b/master/slave.c
index 7087ea91..b4412d45 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -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
*****************************************************************************/
diff --git a/master/slave.h b/master/slave.h
index 1ad7cd98..e53a4fea 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -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
--
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