master/slave_config.c
author Florian Pose <fp@igh-essen.com>
Wed, 09 Dec 2009 14:40:35 +0100
changeset 1578 30f065ea5271
parent 1543 373cd456dc26
child 1798 e7733f825982
permissions -rw-r--r--
Added README to dist.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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/slab.h>
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#include "globals.h"
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#include "master.h"
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#include "voe_handler.h"
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#include "slave_config.h"
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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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void ec_slave_config_init(
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        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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    unsigned int i;
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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->watchdog_divider = 0; // use default
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    sc->watchdog_intervals = 0; // use default
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    sc->slave = NULL;
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    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
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        ec_sync_config_init(&sc->sync_configs[i]);
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    sc->used_fmmus = 0;
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    sc->dc_assign_activate = 0x0000;
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    sc->dc_sync[0].cycle_time = 0x00000000;
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    sc->dc_sync[1].cycle_time = 0x00000000;
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    sc->dc_sync[0].shift_time = 0x00000000;
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    sc->dc_sync[1].shift_time = 0x00000000;
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    INIT_LIST_HEAD(&sc->sdo_configs);
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    INIT_LIST_HEAD(&sc->sdo_requests);
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    INIT_LIST_HEAD(&sc->voe_handlers);
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}
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/*****************************************************************************/
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/** Slave configuration destructor.
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 *
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 * Clears and frees a slave configuration object.
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 */
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void ec_slave_config_clear(
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        ec_slave_config_t *sc /**< Slave configuration. */
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        )
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{
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    unsigned int i;
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    ec_sdo_request_t *req, *next_req;
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    ec_voe_handler_t *voe, *next_voe;
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    ec_slave_config_detach(sc);
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    // Free sync managers
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    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
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        ec_sync_config_clear(&sc->sync_configs[i]);
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    // free all SDO configurations
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    list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
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        list_del(&req->list);
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        ec_sdo_request_clear(req);
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        kfree(req);
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    }
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    // free all SDO requests
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    list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {
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        list_del(&req->list);
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        ec_sdo_request_clear(req);
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        kfree(req);
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    }
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    // free all VoE handlers
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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {
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        list_del(&voe->list);
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        ec_voe_handler_clear(voe);
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        kfree(voe);
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    }
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}
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/*****************************************************************************/
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/** Prepares an FMMU configuration.
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 *
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 * Configuration data for the FMMU is saved in the slave config structure and
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 * is written to the slave during the configuration. The FMMU configuration
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 * is done in a way, that the complete data range of the corresponding sync
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 * manager is covered. Seperate FMMUs are configured for each domain. If the
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 * FMMU configuration is already prepared, the function does nothing and
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 * returns with success.
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 *
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 * \retval >=0 Success, logical offset byte address.
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 * \retval  <0 Error code.
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 */
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int ec_slave_config_prepare_fmmu(
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        ec_slave_config_t *sc, /**< Slave configuration. */
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        ec_domain_t *domain, /**< Domain. */
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        uint8_t sync_index, /**< Sync manager index. */
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        ec_direction_t dir /**< PDO direction. */
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        )
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{
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    unsigned int i;
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    ec_fmmu_config_t *fmmu;
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    // FMMU configuration already prepared?
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    for (i = 0; i < sc->used_fmmus; i++) {
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        fmmu = &sc->fmmu_configs[i];
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        if (fmmu->domain == domain && fmmu->sync_index == sync_index)
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            return fmmu->logical_start_address;
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    }
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    if (sc->used_fmmus == EC_MAX_FMMUS) {
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        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",
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                sc->alias, sc->position);
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        return -EOVERFLOW;
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    }
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    fmmu = &sc->fmmu_configs[sc->used_fmmus++];
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    down(&sc->master->master_sem);
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    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
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    up(&sc->master->master_sem);
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    return fmmu->logical_start_address;
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}
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/*****************************************************************************/
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/** Attaches the configuration to the addressed slave object.
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 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_slave_config_attach(
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        ec_slave_config_t *sc /**< Slave configuration. */
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        )
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{
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    ec_slave_t *slave;
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    if (sc->slave)
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        return 0; // already attached
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    if (!(slave = ec_master_find_slave(
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                    sc->master, sc->alias, sc->position))) {
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        if (sc->master->debug_level)
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            EC_DBG("Failed to find slave for configuration %u:%u.\n",
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                    sc->alias, sc->position);
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        return -ENOENT;
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    }
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    if (slave->config) {
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        if (sc->master->debug_level)
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            EC_DBG("Failed to attach slave configuration %u:%u. Slave %u"
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                    " already has a configuration!\n", sc->alias,
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   206
                    sc->position, slave->ring_position);
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        return -EEXIST;
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    }
1145
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    if (slave->sii.vendor_id != sc->vendor_id
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   211
            || slave->sii.product_code != sc->product_code) {
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   212
        if (sc->master->debug_level)
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   213
            EC_DBG("Slave %u has an invalid type (0x%08X/0x%08X) for"
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   214
                    " configuration %u:%u (0x%08X/0x%08X).\n",
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                    slave->ring_position, slave->sii.vendor_id,
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   216
                    slave->sii.product_code, sc->alias, sc->position,
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   217
                    sc->vendor_id, sc->product_code);
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        return -EINVAL;
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    }
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    // attach slave
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    slave->config = sc;
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    sc->slave = slave;
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   224
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    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
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   226
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    if (sc->master->debug_level)
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   228
        EC_DBG("Attached slave %u to config %u:%u.\n",
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   229
                slave->ring_position, sc->alias, sc->position);
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   230
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   231
    return 0;
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}
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/*****************************************************************************/
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/** Detaches the configuration from a slave object.
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 */
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void ec_slave_config_detach(
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   239
        ec_slave_config_t *sc /**< Slave configuration. */
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   240
        )
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{
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   242
    if (sc->slave) {
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   243
        sc->slave->config = NULL;
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   244
        sc->slave = NULL;
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   245
    }
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   246
}
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   247
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/*****************************************************************************/
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   249
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   250
/** Loads the default PDO assignment from the slave object.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   251
 */
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   252
void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)
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   253
{
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   254
    uint8_t sync_index;
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   255
    ec_sync_config_t *sync_config;
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   256
    const ec_sync_t *sync;
792
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   257
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   258
    if (!sc->slave)
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   259
        return;
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   260
    
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    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
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        sync_config = &sc->sync_configs[sync_index];
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   263
        if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {
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   264
            sync_config->dir = ec_sync_default_direction(sync);
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   265
            if (sync_config->dir == EC_DIR_INVALID)
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                EC_WARN("SM%u of slave %u has an invalid direction field!\n",
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                        sync_index, sc->slave->ring_position);
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            ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);
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   269
        }
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   270
    }
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   271
}
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   273
/*****************************************************************************/
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   274
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/** Loads the default mapping for a PDO from the slave object.
879
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   276
 */
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   277
void ec_slave_config_load_default_mapping(
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   278
        const ec_slave_config_t *sc,
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        ec_pdo_t *pdo
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   280
        )
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{
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    unsigned int i;
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   283
    const ec_sync_t *sync;
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    const ec_pdo_t *default_pdo;
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    if (!sc->slave)
842
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   287
        return;
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   288
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   289
    if (sc->master->debug_level)
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        EC_DBG("Loading default mapping for PDO 0x%04X in config %u:%u.\n",
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   291
                pdo->index, sc->alias, sc->position);
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   292
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   293
    // find PDO in any sync manager (it could be reassigned later)
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   294
    for (i = 0; i < sc->slave->sii.sync_count; i++) {
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   295
        sync = &sc->slave->sii.syncs[i];
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   296
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   297
        list_for_each_entry(default_pdo, &sync->pdos.list, list) {
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   298
            if (default_pdo->index != pdo->index)
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   299
                continue;
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   300
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   301
            if (default_pdo->name) {
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   302
                if (sc->master->debug_level)
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   303
                    EC_DBG("Found PDO name \"%s\".\n", default_pdo->name);
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   304
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   305
                // take PDO name from assigned one
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   306
                ec_pdo_set_name(pdo, default_pdo->name);
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diff changeset
   307
            }
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   308
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   309
            // copy entries (= default PDO mapping)
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   310
            if (ec_pdo_copy_entries(pdo, default_pdo))
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   311
                return;
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   312
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   313
            if (sc->master->debug_level) {
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   314
                const ec_pdo_entry_t *entry;
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   315
                list_for_each_entry(entry, &pdo->entries, list) {
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   316
                    EC_DBG("Entry 0x%04X:%02X.\n",
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   317
                            entry->index, entry->subindex);
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diff changeset
   318
                }
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diff changeset
   319
            }
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   320
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff changeset
   321
            return;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff changeset
   322
        }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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parents:
diff changeset
   323
    }
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff changeset
   324
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diff changeset
   325
    if (sc->master->debug_level)
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diff changeset
   326
        EC_DBG("No default mapping found.\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   327
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   328
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   329
/*****************************************************************************/
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diff changeset
   330
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   331
/** Get the number of SDO configurations.
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diff changeset
   332
 *
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   333
 * \return Number of SDO configurations.
1092
69393cf60399 Improved source code doc.
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diff changeset
   334
 */
990
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   335
unsigned int ec_slave_config_sdo_count(
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   336
        const ec_slave_config_t *sc /**< Slave configuration. */
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   337
        )
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diff changeset
   338
{
1507
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   339
    const ec_sdo_request_t *req;
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diff changeset
   340
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   341
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   342
    list_for_each_entry(req, &sc->sdo_configs, list) {
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   343
        count++;
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   344
    }
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   345
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   346
    return count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   347
}
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   348
4f223f3df05a Bus configuration via 'ethercat config'.
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   349
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
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   350
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diff changeset
   351
/** Finds an SDO configuration via its position in the list.
990
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diff changeset
   352
 *
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   353
 * Const version.
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diff changeset
   354
 */
4f223f3df05a Bus configuration via 'ethercat config'.
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   355
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
4f223f3df05a Bus configuration via 'ethercat config'.
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   356
        const ec_slave_config_t *sc, /**< Slave configuration. */
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   357
        unsigned int pos /**< Position in the list. */
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diff changeset
   358
        )
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diff changeset
   359
{
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diff changeset
   360
    const ec_sdo_request_t *req;
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   361
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   362
    list_for_each_entry(req, &sc->sdo_configs, list) {
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   363
        if (pos--)
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   364
            continue;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   365
        return req;
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diff changeset
   366
    }
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   367
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   368
    return NULL;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   369
}
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   370
1263
f44720defbc5 Added ec_slave_config_find_voe_handler().
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diff changeset
   371
/*****************************************************************************/
f44720defbc5 Added ec_slave_config_find_voe_handler().
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diff changeset
   372
f44720defbc5 Added ec_slave_config_find_voe_handler().
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diff changeset
   373
/** Finds a VoE handler via its position in the list.
f44720defbc5 Added ec_slave_config_find_voe_handler().
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diff changeset
   374
 */
1351
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   375
ec_sdo_request_t *ec_slave_config_find_sdo_request(
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   376
        ec_slave_config_t *sc, /**< Slave configuration. */
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   377
        unsigned int pos /**< Position in the list. */
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   378
        )
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   379
{
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   380
    ec_sdo_request_t *req;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   381
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   382
    list_for_each_entry(req, &sc->sdo_requests, list) {
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   383
        if (pos--)
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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parents: 1332
diff changeset
   384
            continue;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   385
        return req;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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parents: 1332
diff changeset
   386
    }
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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parents: 1332
diff changeset
   387
cf8f08631c8e Added ec_slave_config_find_sdo_request().
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diff changeset
   388
    return NULL;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   389
}
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   390
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   391
/*****************************************************************************/
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   392
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   393
/** Finds a VoE handler via its position in the list.
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   394
 */
1263
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   395
ec_voe_handler_t *ec_slave_config_find_voe_handler(
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   396
        ec_slave_config_t *sc, /**< Slave configuration. */
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   397
        unsigned int pos /**< Position in the list. */
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   398
        )
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   399
{
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   400
    ec_voe_handler_t *voe;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   401
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   402
    list_for_each_entry(voe, &sc->voe_handlers, list) {
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   403
        if (pos--)
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   404
            continue;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   405
        return voe;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   406
    }
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   407
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   408
    return NULL;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   409
}
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   410
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
/******************************************************************************
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   412
 *  Application interface
792
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
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   415
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   416
        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   417
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   418
    ec_sync_config_t *sync_config;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   419
    
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   420
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   421
        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%p, sync_index = %u, "
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   422
                "dir = %i, watchdog_mode = %i)\n",
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   423
                 sc, sync_index, dir, watchdog_mode);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   424
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   425
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   426
        EC_ERR("Invalid sync manager index %u!\n", sync_index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   427
        return -ENOENT;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   428
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   429
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   430
    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   431
        EC_ERR("Invalid direction %u!\n", (u32) dir);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   432
        return -EINVAL;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   433
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   434
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   435
    sync_config = &sc->sync_configs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   436
    sync_config->dir = dir;
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   437
    sync_config->watchdog_mode = watchdog_mode;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   438
    return 0;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   439
}
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   440
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   441
/*****************************************************************************/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   442
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   443
void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   444
        uint16_t divider, uint16_t intervals)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   445
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   446
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   447
        EC_DBG("%s(sc = 0x%p, divider = %u, intervals = %u)\n",
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   448
                __func__, sc, divider, intervals);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   449
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   450
    sc->watchdog_divider = divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   451
    sc->watchdog_intervals = intervals;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   452
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   453
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   454
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   455
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   456
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   457
        uint8_t sync_index, uint16_t pdo_index)
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   458
{
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   459
    ec_pdo_t *pdo;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   460
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   461
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   462
        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%p, sync_index = %u, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   463
                "pdo_index = 0x%04X)\n", sc, sync_index, pdo_index);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   464
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   465
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   466
        EC_ERR("Invalid sync manager index %u!\n", sync_index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   467
        return -EINVAL;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   468
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   469
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   470
    down(&sc->master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   471
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   472
    pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   473
    if (IS_ERR(pdo)) {
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   474
        up(&sc->master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   475
        return PTR_ERR(pdo);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   476
    }
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   477
    pdo->sync_index = sync_index;
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   478
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   479
    ec_slave_config_load_default_mapping(sc, pdo);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   480
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   481
    up(&sc->master->master_sem);
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   482
    return 0;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   483
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   484
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   485
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   486
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   487
void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   488
        uint8_t sync_index)
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   489
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   490
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   491
        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%p, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   492
                "sync_index = %u)\n", sc, sync_index);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   493
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   494
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   495
        EC_ERR("Invalid sync manager index %u!\n", sync_index);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   496
        return;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   497
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   498
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   499
    down(&sc->master->master_sem);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   500
    ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   501
    up(&sc->master->master_sem);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   502
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   503
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   504
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   505
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   506
int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   507
        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   508
        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
   509
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   510
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   511
    ec_pdo_t *pdo = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   512
    ec_pdo_entry_t *entry;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   513
    int retval = 0;
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   514
    
843
b6bddb663755 Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents: 842
diff changeset
   515
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   516
        EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%p, "
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   517
                "pdo_index = 0x%04X, entry_index = 0x%04X, "
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   518
                "entry_subindex = 0x%02X, entry_bit_length = %u)\n",
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   519
                sc, pdo_index, entry_index, entry_subindex,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   520
                entry_bit_length);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   521
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   522
    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   523
        if ((pdo = ec_pdo_list_find_pdo(
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   524
                        &sc->sync_configs[sync_index].pdos, pdo_index)))
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   525
            break;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   526
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   527
    if (pdo) {
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   528
        down(&sc->master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   529
        entry = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   530
                entry_bit_length);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   531
        up(&sc->master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   532
        if (IS_ERR(entry))
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   533
            retval = PTR_ERR(entry);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   534
    } else {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   535
        EC_ERR("PDO 0x%04X is not assigned in config %u:%u.\n",
843
b6bddb663755 Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents: 842
diff changeset
   536
                pdo_index, sc->alias, sc->position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   537
        retval = -ENOENT; 
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   538
    }
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   539
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   540
    return retval;
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   541
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   542
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   543
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   544
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   545
void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   546
        uint16_t pdo_index)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   547
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   548
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   549
    ec_pdo_t *pdo = NULL;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   550
    
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   551
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   552
        EC_DBG("ecrt_slave_config_pdo_mapping_clear(sc = 0x%p, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   553
                "pdo_index = 0x%04X)\n", sc, pdo_index);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   554
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   555
    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   556
        if ((pdo = ec_pdo_list_find_pdo(
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   557
                        &sc->sync_configs[sync_index].pdos, pdo_index)))
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   558
            break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   559
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   560
    if (pdo) {
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   561
        down(&sc->master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   562
        ec_pdo_clear_entries(pdo);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   563
        up(&sc->master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   564
    } else {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   565
        EC_WARN("PDO 0x%04X is not assigned in config %u:%u.\n",
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   566
                pdo_index, sc->alias, sc->position);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   567
    }
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   568
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   569
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   570
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   571
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   572
int ecrt_slave_config_pdos(ec_slave_config_t *sc,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   573
        unsigned int n_syncs, const ec_sync_info_t syncs[])
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   574
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   575
    int ret;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   576
    unsigned int i, j, k;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   577
    const ec_sync_info_t *sync_info;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   578
    const ec_pdo_info_t *pdo_info;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   579
    const ec_pdo_entry_info_t *entry_info;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   580
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   581
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   582
        EC_DBG("ecrt_slave_config_pdos(sc = 0x%p, n_syncs = %u, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   583
                "syncs = 0x%p)\n", sc, n_syncs, syncs);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   584
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   585
    if (!syncs)
1054
4c16fe64b403 Return out of ecrt_slave_config_pdos() when pdo_infos == NULL
Richard Hacker <ha@igh-essen.com>
parents: 1025
diff changeset
   586
        return 0;
4c16fe64b403 Return out of ecrt_slave_config_pdos() when pdo_infos == NULL
Richard Hacker <ha@igh-essen.com>
parents: 1025
diff changeset
   587
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   588
    for (i = 0; i < n_syncs; i++) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   589
        sync_info = &syncs[i];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   590
1097
f974ced181f3 Using EC_END.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   591
        if (sync_info->index == (uint8_t) EC_END)
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   592
            break;
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   593
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   594
        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   595
            EC_ERR("Invalid sync manager index %u!\n", sync_info->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   596
            return -ENOENT;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   597
        }
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   598
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   599
        ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   600
                sync_info->dir, sync_info->watchdog_mode);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   601
        if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   602
            return ret;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   603
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   604
        if (sync_info->n_pdos && sync_info->pdos) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   605
            ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   606
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   607
            for (j = 0; j < sync_info->n_pdos; j++) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   608
                pdo_info = &sync_info->pdos[j];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   609
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   610
                ret = ecrt_slave_config_pdo_assign_add(
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   611
                        sc, sync_info->index, pdo_info->index);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   612
                if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   613
                    return ret;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   614
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   615
                if (pdo_info->n_entries && pdo_info->entries) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   616
                    ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   617
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   618
                    for (k = 0; k < pdo_info->n_entries; k++) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   619
                        entry_info = &pdo_info->entries[k];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   620
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   621
                        ret = ecrt_slave_config_pdo_mapping_add(sc,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   622
                                pdo_info->index, entry_info->index,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   623
                                entry_info->subindex,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   624
                                entry_info->bit_length);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   625
                        if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   626
                            return ret;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   627
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   628
                }
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   629
            }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   630
        }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   631
    }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   632
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
    return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   638
int ecrt_slave_config_reg_pdo_entry(
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   639
        ec_slave_config_t *sc,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   640
        uint16_t index,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   641
        uint8_t subindex,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   642
        ec_domain_t *domain,
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   643
        unsigned int *bit_position
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   644
        )
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   645
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   646
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   647
    const ec_sync_config_t *sync_config;
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   648
    unsigned int bit_offset, bit_pos;
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   649
    ec_pdo_t *pdo;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   650
    ec_pdo_entry_t *entry;
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   651
    int sync_offset;
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   652
941
41a993738383 Added debugging for ecrt_slave_config_reg_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 929
diff changeset
   653
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   654
        EC_DBG("ecrt_slave_config_reg_pdo_entry(sc = 0x%p, index = 0x%04X, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   655
                "subindex = 0x%02X, domain = 0x%p, bit_position = 0x%p)\n",
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   656
                sc, index, subindex, domain, bit_position);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   657
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   658
    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   659
        sync_config = &sc->sync_configs[sync_index];
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   660
        bit_offset = 0;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   661
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   662
        list_for_each_entry(pdo, &sync_config->pdos.list, list) {
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   663
            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
   664
                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
   665
                    bit_offset += entry->bit_length;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   666
                } else {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   667
                    bit_pos = bit_offset % 8;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   668
                    if (bit_position) {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   669
                        *bit_position = bit_pos;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   670
                    } else if (bit_pos) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   671
                        EC_ERR("PDO entry 0x%04X:%02X does not byte-align "
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   672
                                "in config %u:%u.\n", index, subindex,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   673
                                sc->alias, sc->position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   674
                        return -EFAULT;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   675
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   676
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   677
                    sync_offset = ec_slave_config_prepare_fmmu(
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   678
                            sc, domain, sync_index, sync_config->dir);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   679
                    if (sync_offset < 0)
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   680
                        return sync_offset;
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   681
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   682
                    return sync_offset + bit_offset / 8;
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   683
                }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   684
            }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   685
        }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   686
    }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   687
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   688
    EC_ERR("PDO entry 0x%04X:%02X 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
   689
           index, subindex, sc->alias, sc->position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   690
    return -ENOENT;
924
d8d9a1056afa Fixed missing right brace
Richard Hacker <ha@igh-essen.com>
parents: 923
diff changeset
   691
}
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   692
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   693
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   694
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   695
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   696
        uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   697
        uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   698
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   699
    sc->dc_assign_activate = assign_activate;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   700
    sc->dc_sync[0].cycle_time = sync0_cycle_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   701
    sc->dc_sync[0].shift_time = sync0_shift_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   702
    sc->dc_sync[1].cycle_time = sync1_cycle_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   703
    sc->dc_sync[1].shift_time = sync1_shift_time;
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   704
}
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   705
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   706
/*****************************************************************************/
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   707
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   708
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   709
        uint8_t subindex, const uint8_t *data, size_t size)
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   710
{
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   711
    ec_slave_t *slave = sc->slave;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   712
    ec_sdo_request_t *req;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   713
    int ret;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   714
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   715
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   716
        EC_DBG("ecrt_slave_config_sdo(sc = 0x%p, index = 0x%04X, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   717
                "subindex = 0x%02X, data = 0x%p, size = %zu)\n", sc,
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   718
                index, subindex, data, size);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   719
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   720
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   721
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   722
        return -EPROTONOSUPPORT; // protocol not supported
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   723
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   724
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   725
    if (!(req = (ec_sdo_request_t *)
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   726
          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   727
        EC_ERR("Failed to allocate memory for SDO configuration!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   728
        return -ENOMEM;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   729
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   730
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   731
    ec_sdo_request_init(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   732
    ec_sdo_request_address(req, index, subindex);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   733
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   734
    ret = ec_sdo_request_copy_data(req, data, size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   735
    if (ret < 0) {
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   736
        ec_sdo_request_clear(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   737
        kfree(req);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   738
        return ret;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   739
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   740
        
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   741
    down(&sc->master->master_sem);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   742
    list_add_tail(&req->list, &sc->sdo_configs);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   743
    up(&sc->master->master_sem);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   744
    return 0;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   745
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   746
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   747
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   748
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   749
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
        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
   751
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
    uint8_t data[1];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   753
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   754
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   755
        EC_DBG("ecrt_slave_config_sdo8(sc = 0x%p, index = 0x%04X, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   756
                "subindex = 0x%02X, value = %u)\n", sc,
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   757
                index, subindex, (u32) value);
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   758
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
    EC_WRITE_U8(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   760
    return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   761
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   762
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   763
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   764
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   765
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
        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
   767
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
    uint8_t data[2];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   769
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   770
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   771
        EC_DBG("ecrt_slave_config_sdo16(sc = 0x%p, index = 0x%04X, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   772
                "subindex = 0x%02X, value = %u)\n", sc,
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   773
                index, subindex, value);
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   774
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
    EC_WRITE_U16(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   776
    return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   777
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   778
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   779
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   780
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   781
int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   782
        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
   783
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
    uint8_t data[4];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   785
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   786
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   787
        EC_DBG("ecrt_slave_config_sdo32(sc = 0x%p, index = 0x%04X, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   788
                "subindex = 0x%02X, value = %u)\n", sc,
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   789
                index, subindex, value);
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   790
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   791
    EC_WRITE_U32(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   792
    return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   795
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   796
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   797
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   798
        const uint8_t *data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   799
{
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   800
    ec_slave_t *slave = sc->slave;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   801
    ec_sdo_request_t *req;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   802
    int ret;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   803
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   804
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   805
        EC_DBG("ecrt_slave_config_complete_sdo(sc = 0x%p, index = 0x%04X, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   806
                "data = 0x%p, size = %zu)\n", sc, index, data, size);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   807
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   808
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   809
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   810
        return -EPROTONOSUPPORT; // protocol not supported
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   811
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   812
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   813
    if (!(req = (ec_sdo_request_t *)
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   814
          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   815
        EC_ERR("Failed to allocate memory for SDO configuration!\n");
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   816
        return -ENOMEM;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   817
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   818
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   819
    ec_sdo_request_init(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   820
    ec_sdo_request_address(req, index, 0);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   821
    req->complete_access = 1;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   822
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   823
    ret = ec_sdo_request_copy_data(req, data, size);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   824
    if (ret < 0) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   825
        ec_sdo_request_clear(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   826
        kfree(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   827
        return ret;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   828
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   829
        
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   830
    down(&sc->master->master_sem);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   831
    list_add_tail(&req->list, &sc->sdo_configs);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   832
    up(&sc->master->master_sem);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   833
    return 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   834
}
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   835
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   836
/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   837
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   838
/** Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   839
 * value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   840
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   841
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   842
        ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   843
{
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   844
    ec_sdo_request_t *req;
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   845
    int ret;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   846
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   847
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   848
        EC_DBG("ecrt_slave_config_create_sdo_request(sc = 0x%p, "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   849
                "index = 0x%04X, subindex = 0x%02X, size = %zu)\n", sc,
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   850
                index, subindex, size);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   851
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   852
    if (!(req = (ec_sdo_request_t *)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   853
                kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   854
        EC_ERR("Failed to allocate SDO request memory!\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   855
        return ERR_PTR(-ENOMEM);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   856
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   857
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   858
    ec_sdo_request_init(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   859
    ec_sdo_request_address(req, index, subindex);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   860
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   861
    ret = ec_sdo_request_alloc(req, size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   862
    if (ret < 0) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   863
        ec_sdo_request_clear(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   864
        kfree(req);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   865
        return ERR_PTR(ret);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   866
    }
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   867
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   868
    // prepare data for optional writing
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   869
    memset(req->data, 0x00, size);
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   870
    req->data_size = size;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   871
    
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   872
    down(&sc->master->master_sem);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   873
    list_add_tail(&req->list, &sc->sdo_requests);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   874
    up(&sc->master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   875
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   876
    return req; 
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   877
}
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   878
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   879
/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   880
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   881
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   882
        ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   883
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   884
    ec_sdo_request_t *s = ecrt_slave_config_create_sdo_request_err(sc, index,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   885
            subindex, size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   886
    return IS_ERR(s) ? NULL : s;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   887
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   888
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   889
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   890
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   891
/** Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   892
 * value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   893
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   894
ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   895
        ec_slave_config_t *sc, size_t size)
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   896
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   897
    ec_voe_handler_t *voe;
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   898
    int ret;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   899
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   900
    if (sc->master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   901
        EC_DBG("ecrt_slave_config_create_voe_handler(sc = 0x%p, size = %zu)\n",
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   902
                sc, size);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   903
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   904
    if (!(voe = (ec_voe_handler_t *)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   905
                kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   906
        EC_ERR("Failed to allocate VoE request memory!\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   907
        return ERR_PTR(-ENOMEM);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   908
    }
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   909
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   910
    ret = ec_voe_handler_init(voe, sc, size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   911
    if (ret < 0) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   912
        kfree(voe);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   913
        return ERR_PTR(ret);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   914
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   915
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   916
    down(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   917
    list_add_tail(&voe->list, &sc->voe_handlers);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   918
    up(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   919
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   920
    return voe; 
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   921
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   922
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   923
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   924
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   925
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   926
        ec_slave_config_t *sc, size_t size)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   927
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   928
    ec_voe_handler_t *voe = ecrt_slave_config_create_voe_handler_err(sc,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   929
            size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   930
    return IS_ERR(voe) ? NULL : voe;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   931
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   932
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   933
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   934
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   935
void ecrt_slave_config_state(const ec_slave_config_t *sc,
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   936
        ec_slave_config_state_t *state)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   937
{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   938
    state->online = sc->slave ? 1 : 0;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   939
    if (state->online) {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   940
        state->operational =
1277
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1263
diff changeset
   941
            sc->slave->current_state == EC_SLAVE_STATE_OP
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1263
diff changeset
   942
            && !sc->slave->force_config;
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   943
        state->al_state = sc->slave->current_state;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   944
    } else {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   945
        state->operational = 0;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   946
        state->al_state = EC_SLAVE_STATE_UNKNOWN;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   947
    }
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   948
}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   949
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   950
/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   951
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   952
/** \cond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   954
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   955
EXPORT_SYMBOL(ecrt_slave_config_watchdog);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   956
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   957
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   958
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   959
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_clear);
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   960
EXPORT_SYMBOL(ecrt_slave_config_pdos);
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   961
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   962
EXPORT_SYMBOL(ecrt_slave_config_dc);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   963
EXPORT_SYMBOL(ecrt_slave_config_sdo);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   964
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
   965
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
   966
EXPORT_SYMBOL(ecrt_slave_config_sdo32);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   967
EXPORT_SYMBOL(ecrt_slave_config_complete_sdo);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   968
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
1215
3bedd338ff76 Added missing export.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   969
EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler);
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   970
EXPORT_SYMBOL(ecrt_slave_config_state);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   971
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   972
/** \endcond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   973
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   974
/*****************************************************************************/