work-in-progress-daan-2013-06-06-op-naar-cp2-v2.diff

controller/ec/esc_device.c

@@ -261,6 +261,10 @@ int esc_device_initialize_pre_operational(struct esc_device *dev)
 	esc_dc_init(&dev->addr, &dev->dc_sync);
 	esc_watchdog_init(dev);
 
+	// DAAN: Do we want to loose the value or r here in the 'r == -1'
+	// case?
+	// Should we always try to start the poll thread and ignore it's
+	// return value, or only start the thread if (r != -1)?
 	r = esc_device_poll_start(dev);
 
 	dev->auto_recover = true;

controller/sercos/sercos.c

@@ -65,6 +65,7 @@ int sercos_bus_add(struct sercos_bus *bus)
 	return 0;
 }
 
+#if 0
 uint16_t sercos_idn(bool product, int param_set, int blocknr)
 {
 	uint16_t idn;
@@ -75,6 +76,7 @@ uint16_t sercos_idn(bool product, int param_set, int blocknr)
 	
 	return idn;
 }
+#endif
 
 struct sercos_bus *sercos_bus_find(char *name)
 {

controller/sercos/sercos.h

@@ -50,7 +50,12 @@ struct sercos_bus *sercos_bus_alloc(char *name, size_t privsize);
 int sercos_bus_add(struct sercos_bus *bus);
 struct sercos_bus *sercos_bus_find(char *name);
 
-uint16_t sercos_idn(bool product, int param_set, int blocknr);
+//DAAN: make this a macro, so we can use it to initialise arrays
+//uint16_t sercos_idn(bool product, int param_set, int blocknr);
+#define sercos_idn(product, param_set, blocknr)				\
+	(((product) ? 0x8000 : 0x0000) + (((param_set) & 0x7) << 12) +	\
+	((blocknr) & 0x0fff))
+
 
 
 #endif /* _INCLUDE_SERCOS_H_ */