author | Florian Pose <fp@igh-essen.com> |
Fri, 29 Feb 2008 08:27:17 +0000 | |
changeset 846 | 19248bbf9308 |
parent 844 | 8839ba8bfeb4 |
child 854 | f4f53be425ac |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave configuration methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include "globals.h" |
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#include "master.h" |
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#include "slave_config.h" |
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/*****************************************************************************/ |
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void ec_slave_config_clear(struct kobject *); |
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ssize_t ec_show_slave_config_attribute(struct kobject *, struct attribute *, |
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char *); |
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/*****************************************************************************/ |
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/** \cond */ |
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EC_SYSFS_READ_ATTR(info); |
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static struct attribute *def_attrs[] = { |
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&attr_info, |
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NULL, |
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}; |
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static struct sysfs_ops sysfs_ops = { |
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.show = ec_show_slave_config_attribute |
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}; |
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static struct kobj_type ktype_ec_slave_config = { |
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.release = ec_slave_config_clear, |
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.sysfs_ops = &sysfs_ops, |
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.default_attrs = def_attrs |
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}; |
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/** \endcond */ |
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/*****************************************************************************/ |
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/** Slave configuration constructor. |
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* |
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* See ecrt_master_slave_config() for the usage of the \a alias and \a |
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* position parameters. |
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* |
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* \retval 0 Success. |
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* \retval <0 Failure. |
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*/ |
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int ec_slave_config_init(ec_slave_config_t *sc, /**< Slave configuration. */ |
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ec_master_t *master, /**< EtherCAT master. */ |
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uint16_t alias, /**< Slave alias. */ |
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uint16_t position, /**< Slave position. */ |
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uint32_t vendor_id, /**< Expected vendor ID. */ |
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uint32_t product_code /**< Expected product code. */ |
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) |
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{ |
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ec_direction_t dir; |
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sc->master = master; |
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sc->alias = alias; |
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sc->position = position; |
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sc->vendor_id = vendor_id; |
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sc->product_code = product_code; |
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sc->slave = NULL; |
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for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) |
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ec_pdo_mapping_init(&sc->mapping[dir]); |
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INIT_LIST_HEAD(&sc->sdo_configs); |
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sc->used_fmmus = 0; |
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// init kobject and add it to the hierarchy |
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memset(&sc->kobj, 0x00, sizeof(struct kobject)); |
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kobject_init(&sc->kobj); |
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sc->kobj.ktype = &ktype_ec_slave_config; |
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sc->kobj.parent = &master->kobj; |
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if (kobject_set_name(&sc->kobj, "config-%u-%u", sc->alias, sc->position)) { |
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EC_ERR("Failed to set kobject name for slave config %u:%u.\n", |
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118 |
sc->alias, sc->position); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
119 |
goto out_put; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
120 |
} |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
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|
121 |
if (kobject_add(&sc->kobj)) { |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
122 |
EC_ERR("Failed to add kobject for slave config %u:%u.\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
123 |
sc->alias, sc->position); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
124 |
goto out_put; |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
125 |
} |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
126 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
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|
127 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
128 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
129 |
out_put: |
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Implemented most realtime interface changes for version 1.4, improved
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|
130 |
kobject_put(&sc->kobj); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
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|
131 |
return -1; |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
132 |
} |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
133 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
134 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
135 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
136 |
/** Slave configuration destructor. |
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|
137 |
* |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
138 |
* Clears and frees a slave configuration object. |
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parents:
diff
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|
139 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
140 |
void ec_slave_config_destroy( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
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|
141 |
ec_slave_config_t *sc /**< Slave configuration. */ |
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parents:
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|
142 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
143 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
144 |
ec_slave_config_detach(sc); |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
145 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
146 |
// destroy self |
3778920f61e4
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parents:
diff
changeset
|
147 |
kobject_del(&sc->kobj); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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|
148 |
kobject_put(&sc->kobj); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
149 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
150 |
|
3778920f61e4
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parents:
diff
changeset
|
151 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
152 |
|
3778920f61e4
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parents:
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changeset
|
153 |
/** Clear and free the slave configuration. |
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|
154 |
* |
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Implemented most realtime interface changes for version 1.4, improved
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|
155 |
* This method is called by the kobject, once there are no more references to |
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parents:
diff
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|
156 |
* it. |
3778920f61e4
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parents:
diff
changeset
|
157 |
*/ |
3778920f61e4
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parents:
diff
changeset
|
158 |
void ec_slave_config_clear(struct kobject *kobj /**< kobject of the config. */) |
3778920f61e4
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parents:
diff
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|
159 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
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changeset
|
160 |
ec_slave_config_t *sc; |
3778920f61e4
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|
161 |
ec_direction_t dir; |
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diff
changeset
|
162 |
ec_sdo_data_t *sdodata, *next_sdodata; |
3778920f61e4
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parents:
diff
changeset
|
163 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
164 |
sc = container_of(kobj, ec_slave_config_t, kobj); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
165 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
// Free Pdo mappings |
3778920f61e4
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parents:
diff
changeset
|
167 |
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) |
3778920f61e4
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parents:
diff
changeset
|
168 |
ec_pdo_mapping_clear(&sc->mapping[dir]); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
|
814 | 170 |
// free all Sdo configurations |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
171 |
list_for_each_entry_safe(sdodata, next_sdodata, &sc->sdo_configs, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
172 |
list_del(&sdodata->list); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
kfree(sdodata->data); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
kfree(sdodata); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
/** \todo */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
kfree(sc); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
180 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
/** Prepares an FMMU configuration. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
* Configuration data for the FMMU is saved in the slave config structure and |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
* is written to the slave during the configuration. The FMMU configuration |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
* is done in a way, that the complete data range of the corresponding sync |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
* manager is covered. Seperate FMMUs are configured for each domain. If the |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
* FMMU configuration is already prepared, the function returns with success. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
* \retval >=0 Logical offset address. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
* \retval -1 FMMU limit reached. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
int ec_slave_config_prepare_fmmu( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
ec_slave_config_t *sc, /**< Slave configuration. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
ec_domain_t *domain, /**< Domain. */ |
814 | 198 |
ec_direction_t dir /**< Pdo direction. */ |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
unsigned int i; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
ec_fmmu_config_t *fmmu; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
// FMMU configuration already prepared? |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
for (i = 0; i < sc->used_fmmus; i++) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
fmmu = &sc->fmmu_configs[i]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
if (fmmu->domain == domain && fmmu->dir == dir) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
return fmmu->logical_start_address; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
if (sc->used_fmmus == EC_MAX_FMMUS) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
EC_ERR("FMMU limit reached for slave configuration %u:%u!\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
sc->alias, sc->position); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
fmmu = &sc->fmmu_configs[sc->used_fmmus++]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
ec_fmmu_config_init(fmmu, sc, domain, dir); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
return fmmu->logical_start_address; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
221 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
/** Outputs all information about a certain slave configuration. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
ssize_t ec_slave_config_info( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
const ec_slave_config_t *sc, /**< Slave configuration. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
char *buffer /**< Output buffer */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
char *buf = buffer; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
ec_direction_t dir; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
const ec_pdo_mapping_t *map; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
const ec_pdo_t *pdo; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
const ec_pdo_entry_t *entry; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
char str[20]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
237 |
ec_sdo_data_t *sdodata; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
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|
240 |
buf += sprintf(buf, "Position: %u\n", sc->position); |
3778920f61e4
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parents:
diff
changeset
|
241 |
|
3778920f61e4
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parents:
diff
changeset
|
242 |
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
243 |
map = &sc->mapping[dir]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
244 |
|
3778920f61e4
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
245 |
if (!list_empty(&map->pdos)) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
246 |
buf += sprintf(buf, "%s mapping:\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
247 |
dir == EC_DIR_OUTPUT ? "Output" : "Input"); |
3778920f61e4
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parents:
diff
changeset
|
248 |
|
3778920f61e4
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parents:
diff
changeset
|
249 |
list_for_each_entry(pdo, &map->pdos, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
250 |
buf += sprintf(buf, " %s 0x%04X \"%s\"\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
252 |
pdo->index, pdo->name ? pdo->name : "???"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
253 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
254 |
list_for_each_entry(entry, &pdo->entries, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
255 |
buf += sprintf(buf, " 0x%04X:%X \"%s\", %u bit\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
256 |
entry->index, entry->subindex, |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
257 |
entry->name ? entry->name : "???", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
258 |
entry->bit_length); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
259 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
261 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
// type-cast to avoid warnings on some compilers |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
if (!list_empty((struct list_head *) &sc->sdo_configs)) { |
814 | 266 |
buf += sprintf(buf, "\nSdo configurations:\n"); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
267 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
268 |
list_for_each_entry(sdodata, &sc->sdo_configs, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
269 |
switch (sdodata->size) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
270 |
case 1: sprintf(str, "%u", EC_READ_U8(sdodata->data)); break; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
271 |
case 2: sprintf(str, "%u", EC_READ_U16(sdodata->data)); break; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
272 |
case 4: sprintf(str, "%u", EC_READ_U32(sdodata->data)); break; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
default: sprintf(str, "(invalid size)"); break; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
274 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
275 |
buf += sprintf(buf, " 0x%04X:%-3i -> %s\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
276 |
sdodata->index, sdodata->subindex, str); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
277 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
278 |
buf += sprintf(buf, "\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
279 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
280 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
281 |
return buf - buffer; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
282 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
283 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
286 |
/** Formats attribute data for SysFS read access. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
* \return number of bytes to read |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
289 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
290 |
ssize_t ec_show_slave_config_attribute( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
291 |
struct kobject *kobj, /**< Slave configuration's kobject */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
292 |
struct attribute *attr, /**< Requested attribute. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
293 |
char *buffer /**< Memory to store data. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
ec_slave_config_t *sc = container_of(kobj, ec_slave_config_t, kobj); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
298 |
if (attr == &attr_info) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
299 |
return ec_slave_config_info(sc, buffer); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
302 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
303 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
|
814 | 307 |
/** Adds an Sdo configuration. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
int ec_slave_config_sdo(ec_slave_config_t *sc, uint16_t index, |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
uint8_t subindex, const uint8_t *data, size_t size) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
311 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
ec_slave_t *slave = sc->slave; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
ec_sdo_data_t *sdodata; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
314 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
315 |
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
if (!(sdodata = (ec_sdo_data_t *) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) { |
814 | 322 |
EC_ERR("Failed to allocate memory for Sdo configuration object!\n"); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) { |
814 | 327 |
EC_ERR("Failed to allocate memory for Sdo configuration data!\n"); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
kfree(sdodata); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
sdodata->index = index; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
sdodata->subindex = subindex; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
memcpy(sdodata->data, data, size); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
sdodata->size = size; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
list_add_tail(&sdodata->list, &sc->sdo_configs); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
/** Attaches the configuration to the addressed slave object. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
* \retval 0 Success. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
* \retval -1 Slave not found. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
* \retval -2 Slave already configured. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
* \retval -3 Invalid slave type found at the given position. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
int ec_slave_config_attach( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
ec_slave_config_t *sc /**< Slave configuration. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
ec_slave_t *slave; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
unsigned int alias_found = 0, relative_position = 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
if (sc->slave) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
return 0; // already attached |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
list_for_each_entry(slave, &sc->master->slaves, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
if (!alias_found) { |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
362 |
if (sc->alias && slave->sii.alias != sc->alias) |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
continue; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
alias_found = 1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
relative_position = 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
if (relative_position == sc->position) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
goto found; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
relative_position++; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
|
797 | 372 |
EC_WARN("Failed to find slave for configuration %u:%u.\n", |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
sc->alias, sc->position); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
374 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
375 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
376 |
found: |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
if (slave->config) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
EC_ERR("Failed to attach slave configuration %u:%u. Slave %u" |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
" already has a configuration!\n", sc->alias, |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
sc->position, slave->ring_position); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
return -2; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
} |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
383 |
if (slave->sii.vendor_id != sc->vendor_id |
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
384 |
|| slave->sii.product_code != sc->product_code) { |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
385 |
EC_ERR("Slave %u has an invalid type (0x%08X/0x%08X) for" |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
386 |
" configuration %u:%u (0x%08X/0x%08X).\n", |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
387 |
slave->ring_position, slave->sii.vendor_id, |
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
388 |
slave->sii.product_code, sc->alias, sc->position, |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
389 |
sc->vendor_id, sc->product_code); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
390 |
return -3; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
391 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
392 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
// attach slave |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
slave->config = sc; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
395 |
sc->slave = slave; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
396 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
397 |
ec_slave_request_state(slave, EC_SLAVE_STATE_OP); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
398 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
399 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
400 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
401 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
402 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
403 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
404 |
/** Detaches the configuration from a slave object. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
405 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
void ec_slave_config_detach( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
407 |
ec_slave_config_t *sc /**< Slave configuration. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
408 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
409 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
if (sc->slave) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
sc->slave->config = NULL; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
sc->slave = NULL; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
413 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
416 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
417 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
418 |
/** Loads the default mapping from the slave object. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
420 |
void ec_slave_config_load_default_mapping(ec_slave_config_t *sc) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
421 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
422 |
ec_direction_t dir; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
423 |
ec_pdo_mapping_t *map; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
424 |
ec_sync_t *sync; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
425 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
426 |
if (!sc->slave) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
427 |
return; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
428 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
429 |
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
430 |
map = &sc->mapping[dir]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
if (!(sync = ec_slave_get_pdo_sync(sc->slave, dir))) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
continue; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
ec_pdo_mapping_copy(map, &sync->mapping); |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
434 |
map->default_mapping = 1; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
435 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
436 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
437 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
438 |
/*****************************************************************************/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
439 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
440 |
/** Loads the default configuration for a Pdo from the slave object. |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
441 |
*/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
442 |
void ec_slave_config_load_default_pdo_config( |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
443 |
const ec_slave_config_t *sc, |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
444 |
ec_pdo_t *pdo |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
445 |
) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
446 |
{ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
447 |
const ec_sync_t *sync; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
448 |
const ec_pdo_t *default_pdo; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
449 |
|
843
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
450 |
if (sc->master->debug_level) |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
451 |
EC_DBG("Loading default configuration for Pdo 0x%04X in" |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
452 |
" config %u:%u.\n", pdo->index, sc->alias, sc->position); |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
453 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
454 |
pdo->default_config = 1; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
455 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
456 |
if (!sc->slave) { |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
457 |
EC_WARN("Failed to load default Pdo configuration for %u:%u:" |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
458 |
" Slave not found.\n", sc->alias, sc->position); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
459 |
return; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
460 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
461 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
462 |
if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) { |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
463 |
EC_WARN("Slave %u does not provide a default Pdo" |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
464 |
" configuration!\n", sc->slave->ring_position); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
465 |
return; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
466 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
467 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
468 |
list_for_each_entry(default_pdo, &sync->mapping.pdos, list) { |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
469 |
if (default_pdo->index != pdo->index) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
470 |
continue; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
471 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
472 |
if (sc->master->debug_level) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
473 |
EC_DBG(" Found Pdo name \"%s\".\n", |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
474 |
default_pdo->name); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
475 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
476 |
// try to take Pdo name from mapped one |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
477 |
ec_pdo_set_name(pdo, default_pdo->name); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
478 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
479 |
// copy entries (= default Pdo configuration) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
480 |
if (ec_pdo_copy_entries(pdo, default_pdo)) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
481 |
return; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
482 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
483 |
if (sc->master->debug_level) { |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
484 |
const ec_pdo_entry_t *entry; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
485 |
list_for_each_entry(entry, &pdo->entries, list) { |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
486 |
EC_DBG(" Entry 0x%04X:%u.\n", |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
487 |
entry->index, entry->subindex); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
488 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
489 |
} |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
490 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
491 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
492 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
493 |
/****************************************************************************** |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
494 |
* Realtime interface |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
495 |
*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
496 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
497 |
int ecrt_slave_config_pdo(ec_slave_config_t *sc, ec_direction_t dir, |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
498 |
uint16_t index) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
499 |
{ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
500 |
ec_pdo_mapping_t *pm = &sc->mapping[dir]; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
501 |
ec_pdo_t *pdo; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
502 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
503 |
if (pm->default_mapping) { |
843
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
504 |
if (sc->master->debug_level) |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
505 |
EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n", |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
506 |
dir, sc->alias, sc->position); |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
507 |
pm->default_mapping = 0; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
508 |
ec_pdo_mapping_clear_pdos(pm); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
509 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
510 |
|
843
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
511 |
if (sc->master->debug_level) |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
512 |
EC_DBG("Adding Pdo 0x%04X to mapping for dir %u, config %u:%u.\n", |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
513 |
index, dir, sc->alias, sc->position); |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
514 |
|
844
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
515 |
if (!(pdo = ec_pdo_mapping_add_pdo(pm, dir, index))) |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
516 |
return -1; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
517 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
518 |
ec_slave_config_load_default_pdo_config(sc, pdo); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
519 |
return 0; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
520 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
521 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
522 |
/*****************************************************************************/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
523 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
524 |
int ecrt_slave_config_pdo_entry(ec_slave_config_t *sc, uint16_t pdo_index, |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
525 |
uint16_t entry_index, uint8_t entry_subindex, |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
526 |
uint8_t entry_bit_length) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
527 |
{ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
528 |
ec_direction_t dir; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
529 |
ec_pdo_t *pdo; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
530 |
|
843
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
531 |
if (sc->master->debug_level) |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
532 |
EC_DBG("Adding Pdo entry 0x%04X:%u (%u bit) to configuration of Pdo" |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
533 |
" 0x%04X, config %u:%u.\n", entry_index, entry_subindex, |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
534 |
entry_bit_length, pdo_index, sc->alias, sc->position); |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
535 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
536 |
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
537 |
if ((pdo = ec_pdo_mapping_find_pdo(&sc->mapping[dir], pdo_index))) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
538 |
break; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
539 |
|
843
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
540 |
if (!pdo) { |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
541 |
EC_ERR("Pdo 0x%04X was not found in the mapping of config %u:%u.\n", |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
542 |
pdo_index, sc->alias, sc->position); |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
543 |
return -1; |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
544 |
} |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
545 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
546 |
if (pdo->default_config) { |
843
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
547 |
if (sc->master->debug_level) |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
548 |
EC_DBG("Clearing default configuration of Pdo 0x%04X," |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
549 |
" config %u:%u.\n", pdo->index, sc->alias, sc->position); |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
550 |
pdo->default_config = 0; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
551 |
ec_pdo_clear_entries(pdo); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
552 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
553 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
554 |
return ec_pdo_add_entry(pdo, entry_index, entry_subindex, |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
555 |
entry_bit_length) ? 0 : -1; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
556 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
557 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
558 |
/*****************************************************************************/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
559 |
|
844
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
560 |
int ecrt_slave_config_mapping(ec_slave_config_t *sc, unsigned int n_infos, |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
561 |
const ec_pdo_info_t pdo_infos[]) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
562 |
{ |
844
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
563 |
unsigned int i, j; |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
564 |
const ec_pdo_info_t *pi; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
565 |
ec_pdo_mapping_t *pm; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
566 |
ec_pdo_t *pdo; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
567 |
const ec_pdo_entry_info_t *ei; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
568 |
|
844
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
569 |
for (i = 0; i < n_infos; i++) { |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
570 |
pi = &pdo_infos[i]; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
571 |
pm = &sc->mapping[pi->dir]; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
572 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
573 |
if (pm->default_mapping) { |
843
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
574 |
if (sc->master->debug_level) |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
575 |
EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n", |
b6bddb663755
Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents:
842
diff
changeset
|
576 |
pi->dir, sc->alias, sc->position); |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
577 |
pm->default_mapping = 0; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
578 |
ec_pdo_mapping_clear_pdos(pm); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
579 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
580 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
581 |
if (sc->master->debug_level) |
844
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
582 |
EC_DBG("Adding Pdo 0x%04X to mapping for dir %u, config %u:%u.\n", |
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
583 |
pi->index, pi->dir, sc->alias, sc->position); |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
584 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
585 |
if (!(pdo = ec_pdo_mapping_add_pdo(pm, pi->dir, pi->index))) |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
586 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
587 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
588 |
if (pi->n_entries && pi->entries) { // configuration provided |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
589 |
if (sc->master->debug_level) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
590 |
EC_DBG(" Pdo configuration information provided.\n"); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
591 |
|
844
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
592 |
for (j = 0; j < pi->n_entries; j++) { |
8839ba8bfeb4
Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents:
843
diff
changeset
|
593 |
ei = &pi->entries[j]; |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
594 |
if (!ec_pdo_add_entry(pdo, ei->index, ei->subindex, |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
595 |
ei->bit_length)) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
596 |
return -1; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
597 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
598 |
} else { // use default Pdo configuration |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
599 |
ec_slave_config_load_default_pdo_config(sc, pdo); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
600 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
601 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
602 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
603 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
604 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
605 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
606 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
607 |
|
807
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
608 |
int ecrt_slave_config_reg_pdo_entry( |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
609 |
ec_slave_config_t *sc, /**< Slave configuration. */ |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
610 |
uint16_t index, /**< Index of Pdo entry to register. */ |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
611 |
uint8_t subindex, /**< Subindex of Pdo entry to register. */ |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
612 |
ec_domain_t *domain /**< Domain. */ |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
613 |
) |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
614 |
{ |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
615 |
ec_direction_t dir; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
616 |
ec_pdo_mapping_t *map; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
617 |
unsigned int bit_offset, byte_offset; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
618 |
ec_pdo_t *pdo; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
619 |
ec_pdo_entry_t *entry; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
620 |
int ret; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
621 |
|
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
622 |
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) { |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
623 |
map = &sc->mapping[dir]; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
624 |
bit_offset = 0; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
625 |
list_for_each_entry(pdo, &map->pdos, list) { |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
626 |
list_for_each_entry(entry, &pdo->entries, list) { |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
627 |
if (entry->index != index || entry->subindex != subindex) { |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
628 |
bit_offset += entry->bit_length; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
629 |
} else { |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
630 |
goto found; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
631 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
632 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
633 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
634 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
635 |
|
814 | 636 |
EC_ERR("Pdo entry 0x%04X:%u is not mapped in slave config %u:%u.\n", |
807
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
637 |
index, subindex, sc->alias, sc->position); |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
638 |
return -1; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
639 |
|
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
640 |
found: |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
641 |
byte_offset = bit_offset / 8; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
642 |
if ((ret = ec_slave_config_prepare_fmmu(sc, domain, dir)) < 0) |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
643 |
return -2; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
644 |
return ret + byte_offset; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
645 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
646 |
|
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
647 |
/*****************************************************************************/ |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
648 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
649 |
int ecrt_slave_config_sdo8(ec_slave_config_t *slave, uint16_t index, |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
650 |
uint8_t subindex, uint8_t value) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
651 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
652 |
uint8_t data[1]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
653 |
EC_WRITE_U8(data, value); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
654 |
return ec_slave_config_sdo(slave, index, subindex, data, 1); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
655 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
656 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
657 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
658 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
659 |
int ecrt_slave_config_sdo16(ec_slave_config_t *slave, uint16_t index, |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
660 |
uint8_t subindex, uint16_t value) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
661 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
662 |
uint8_t data[2]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
663 |
EC_WRITE_U16(data, value); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
664 |
return ec_slave_config_sdo(slave, index, subindex, data, 2); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
665 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
666 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
667 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
668 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
669 |
int ecrt_slave_config_sdo32(ec_slave_config_t *slave, uint16_t index, |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
670 |
uint8_t subindex, uint32_t value) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
671 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
672 |
uint8_t data[4]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
673 |
EC_WRITE_U32(data, value); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
674 |
return ec_slave_config_sdo(slave, index, subindex, data, 4); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
675 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
676 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
677 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
678 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
679 |
/** \cond */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
680 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
681 |
EXPORT_SYMBOL(ecrt_slave_config_pdo); |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
682 |
EXPORT_SYMBOL(ecrt_slave_config_pdo_entry); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
683 |
EXPORT_SYMBOL(ecrt_slave_config_mapping); |
807
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
684 |
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
685 |
EXPORT_SYMBOL(ecrt_slave_config_sdo8); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
686 |
EXPORT_SYMBOL(ecrt_slave_config_sdo16); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
687 |
EXPORT_SYMBOL(ecrt_slave_config_sdo32); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
688 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
689 |
/** \endcond */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
690 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
691 |
/*****************************************************************************/ |