master/slave_config.c
author Florian Pose <fp@igh-essen.com>
Thu, 09 Oct 2008 09:31:23 +0000
changeset 1251 3c3f8cb76748
parent 1215 3bedd338ff76
child 1263 f44720defbc5
permissions -rw-r--r--
Added e100 driver for kernel 2.6.26 basically provided by Mario
Witkowski.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave configuration methods.
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*/
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/*****************************************************************************/
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#include <linux/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->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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    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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    sc->used_fmmus = 0;
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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 -1  Error, FMMU limit reached.
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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 -1;
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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 -1 Slave not found.
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 * \retval -2 Slave already configured.
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 * \retval -3 Invalid slave type found at the given position.
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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 -1;
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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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                    sc->position, slave->ring_position);
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        return -2;
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    }
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    if (slave->sii.vendor_id != sc->vendor_id
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            || slave->sii.product_code != sc->product_code) {
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        if (sc->master->debug_level)
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            EC_DBG("Slave %u has an invalid type (0x%08X/0x%08X) for"
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                    " configuration %u:%u (0x%08X/0x%08X).\n",
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                    slave->ring_position, slave->sii.vendor_id,
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                    slave->sii.product_code, sc->alias, sc->position,
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                    sc->vendor_id, sc->product_code);
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        return -3;
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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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    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
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    if (sc->master->debug_level)
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        EC_DBG("Attached slave %u to config %u:%u.\n",
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                slave->ring_position, sc->alias, sc->position);
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	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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        ec_slave_config_t *sc /**< Slave configuration. */
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        )
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{
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    if (sc->slave) {
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        sc->slave->config = NULL;
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        sc->slave = NULL;
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    }
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}
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/*****************************************************************************/
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9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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/** Loads the default Pdo assignment from the slave object.
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 */
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void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)
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{
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    uint8_t sync_index;
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    ec_sync_config_t *sync_config;
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    const ec_sync_t *sync;
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    if (!sc->slave)
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        return;
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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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        if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {
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            sync_config->dir = ec_sync_default_direction(sync);
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            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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        }
879
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    }
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}
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/*****************************************************************************/
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/** Loads the default mapping for a Pdo from the slave object.
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 */
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void ec_slave_config_load_default_mapping(
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        const ec_slave_config_t *sc,
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        ec_pdo_t *pdo
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        )
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{
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    unsigned int i;
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    const ec_sync_t *sync;
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    const ec_pdo_t *default_pdo;
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    if (!sc->slave)
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        return;
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    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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                pdo->index, sc->alias, sc->position);
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    // find Pdo in any sync manager (it could be reassigned later)
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    for (i = 0; i < sc->slave->sii.sync_count; i++) {
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        sync = &sc->slave->sii.syncs[i];
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        list_for_each_entry(default_pdo, &sync->pdos.list, list) {
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            if (default_pdo->index != pdo->index)
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                continue;
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            if (default_pdo->name) {
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                if (sc->master->debug_level)
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                    EC_DBG("Found Pdo name \"%s\".\n", default_pdo->name);
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                // take Pdo name from assigned one
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                ec_pdo_set_name(pdo, default_pdo->name);
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   303
            }
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            // copy entries (= default Pdo mapping)
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            if (ec_pdo_copy_entries(pdo, default_pdo))
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                return;
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   308
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   309
            if (sc->master->debug_level) {
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                const ec_pdo_entry_t *entry;
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                list_for_each_entry(entry, &pdo->entries, list) {
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                    EC_DBG("Entry 0x%04X:%02X.\n",
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                            entry->index, entry->subindex);
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   314
                }
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   315
            }
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            return;
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   318
        }
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    }
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   320
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   321
    if (sc->master->debug_level)
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        EC_DBG("No default mapping found.\n");
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}
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990
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/*****************************************************************************/
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   326
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/** Get the number of Sdo configurations.
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 *
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 * \return Number of Sdo configurations.
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 */
990
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unsigned int ec_slave_config_sdo_count(
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        const ec_slave_config_t *sc /**< Slave configuration. */
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   333
        )
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{
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	const ec_sdo_request_t *req;
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   336
	unsigned int count = 0;
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   337
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   338
	list_for_each_entry(req, &sc->sdo_configs, list) {
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   339
		count++;
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   340
	}
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	return count;
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   343
}
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/*****************************************************************************/
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   346
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   347
/** Finds an Sdo configuration via its position in the list.
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   348
 *
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 * Const version.
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   350
 */
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   351
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
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   352
        const ec_slave_config_t *sc, /**< Slave configuration. */
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   353
        unsigned int pos /**< Position in the list. */
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   354
        )
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   355
{
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   356
    const ec_sdo_request_t *req;
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   357
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   358
    list_for_each_entry(req, &sc->sdo_configs, list) {
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   359
        if (pos--)
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   360
            continue;
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   361
        return req;
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   362
    }
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   363
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   364
    return NULL;
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   365
}
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   366
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/******************************************************************************
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 *  Realtime interface
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 *****************************************************************************/
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   371
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
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   372
        ec_direction_t dir)
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   373
{
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   374
    ec_sync_config_t *sync_config;
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   375
    
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   376
    if (sc->master->debug_level)
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   377
        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "
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   378
                "dir = %u)\n", (u32) sc, sync_index, dir);
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   379
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diff changeset
   380
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
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   381
        EC_ERR("Invalid sync manager index %u!\n", sync_index);
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   382
        return -1;
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diff changeset
   383
    }
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   384
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   385
    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
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   386
        EC_ERR("Invalid direction %u!\n", (u32) dir);
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   387
        return -1;
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diff changeset
   388
    }
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   389
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   390
    sync_config = &sc->sync_configs[sync_index];
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diff changeset
   391
    sync_config->dir = dir;
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   392
    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
   393
}
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   394
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   395
/*****************************************************************************/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   396
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   397
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
   398
        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
   399
{
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   400
    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
   401
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   402
    if (sc->master->debug_level)
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   403
        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%x, sync_index = %u, "
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   404
                "pdo_index = 0x%04X)\n", (u32) sc, sync_index, 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
   405
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   406
    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
   407
        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
   408
        return -1;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   409
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   410
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
   411
    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
   412
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
   413
    if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,
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
   414
                    pdo_index))) {
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
   415
        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
   416
        return -1;
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
   417
    }
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   418
    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
   419
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   420
    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
   421
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
   422
    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
   423
    return 0;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   424
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   425
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   426
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   427
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   428
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
   429
        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
   430
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   431
    if (sc->master->debug_level)
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   432
        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%x, "
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   433
                "sync_index = %u)\n", (u32) sc, 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
   434
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   435
    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
   436
        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
   437
        return;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   438
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   439
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
   440
    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
   441
    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
   442
    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
   443
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   444
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   445
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   446
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   447
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
   448
        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
   449
        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
   450
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   451
    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
   452
    ec_pdo_t *pdo = NULL;
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
   453
    int retval = -1;
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   454
    
843
b6bddb663755 Added some debugging and fixed a bug, when Pdo was not found.
Florian Pose <fp@igh-essen.com>
parents: 842
diff changeset
   455
    if (sc->master->debug_level)
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   456
        EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   457
                "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
   458
                "entry_subindex = 0x%02X, entry_bit_length = %u)\n",
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   459
                (u32) sc, pdo_index, entry_index, entry_subindex,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   460
                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
   461
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   462
    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
   463
        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
   464
                        &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
   465
            break;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   466
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
   467
    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
   468
        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
   469
        retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
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
                entry_bit_length) ? 0 : -1;
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
        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
   472
    } else {
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   473
        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
   474
                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
   475
    }
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
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
   477
    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
   478
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   479
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   480
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   481
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   482
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
   483
        uint16_t pdo_index)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   484
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   485
    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
   486
    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
   487
    
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   488
    if (sc->master->debug_level)
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   489
        EC_DBG("ecrt_slave_config_pdo_mapping_clear(sc = 0x%x, "
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   490
                "pdo_index = 0x%04X)\n", (u32) sc, 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
   491
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   492
    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
   493
        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
   494
                        &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
   495
            break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   496
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
   497
    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
   498
        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
   499
        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
   500
        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
   501
    } else {
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   502
        EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   503
                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
   504
    }
879
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
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   507
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   508
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   509
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
   510
        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
   511
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   512
    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
   513
    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
   514
    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
   515
    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
   516
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   517
    if (sc->master->debug_level)
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   518
        EC_DBG("ecrt_slave_config_pdos(sc = 0x%x, n_syncs = %u, "
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   519
                "syncs = 0x%x)\n", (u32) sc, n_syncs, (u32) syncs);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   520
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   521
    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
   522
        return 0;
4c16fe64b403 Return out of ecrt_slave_config_pdos() when pdo_infos == NULL
Richard Hacker <ha@igh-essen.com>
parents: 1025
diff changeset
   523
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   524
    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
   525
        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
   526
1097
f974ced181f3 Using EC_END.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   527
        if (sync_info->index == (uint8_t) EC_END)
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   528
            break;
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   529
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   530
        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
   531
            EC_ERR("Invalid sync manager index %u!\n", 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
   532
            return -1;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   533
        }
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   534
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   535
        if (ecrt_slave_config_sync_manager(
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   536
                    sc, sync_info->index, sync_info->dir))
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   537
            return -1;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   538
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   539
        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
   540
            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
   541
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   542
            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
   543
                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
   544
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   545
                if (ecrt_slave_config_pdo_assign_add(
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   546
                            sc, sync_info->index, pdo_info->index))
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   547
                    return -1;
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
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   549
                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
   550
                    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
   551
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   552
                    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
   553
                        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
   554
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   555
                        if (ecrt_slave_config_pdo_mapping_add(sc,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   556
                                    pdo_info->index, entry_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
   557
                                    entry_info->subindex,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   558
                                    entry_info->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
   559
                            return -1;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   560
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   561
                }
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   562
            }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   563
        }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   564
    }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   565
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
    return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   569
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   571
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
   572
        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
   573
        uint16_t index,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   574
        uint8_t subindex,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   575
        ec_domain_t *domain,
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   576
        unsigned int *bit_position
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   577
        )
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   578
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   579
    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
   580
    const ec_sync_config_t *sync_config;
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   581
    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
   582
    ec_pdo_t *pdo;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   583
    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
   584
    int sync_offset;
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   585
941
41a993738383 Added debugging for ecrt_slave_config_reg_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 929
diff changeset
   586
    if (sc->master->debug_level)
41a993738383 Added debugging for ecrt_slave_config_reg_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 929
diff changeset
   587
        EC_DBG("ecrt_slave_config_reg_pdo_entry(sc = 0x%x, index = 0x%04X, "
41a993738383 Added debugging for ecrt_slave_config_reg_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 929
diff changeset
   588
                "subindex = 0x%02X, domain = 0x%x, bit_position = 0x%x)\n",
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   589
                (u32) sc, index, subindex, (u32) domain, (u32) 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
   590
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   591
    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
   592
        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
   593
        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
   594
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   595
        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
   596
            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
   597
                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
   598
                    bit_offset += entry->bit_length;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   599
                } 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
   600
                    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
   601
                    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
   602
                        *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
   603
                    } else if (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
   604
                        EC_ERR("Pdo entry 0x%04X:%02X does not byte-align "
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   605
                                "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
   606
                                sc->alias, sc->position);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   607
                        return -3;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   608
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   609
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
   610
                    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
   611
                            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
   612
                    if (sync_offset < 0)
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
   613
                        return -2;
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
   614
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   615
                    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
   616
                }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   617
            }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   618
        }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   619
    }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   620
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   621
    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
   622
           index, subindex, sc->alias, sc->position);
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   623
    return -1;
924
d8d9a1056afa Fixed missing right brace
Richard Hacker <ha@igh-essen.com>
parents: 923
diff changeset
   624
}
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   625
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   626
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   627
/*****************************************************************************/
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   628
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   629
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
   630
        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
   631
{
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   632
    ec_slave_t *slave = sc->slave;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   633
    ec_sdo_request_t *req;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   634
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   635
    if (sc->master->debug_level)
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   636
        EC_DBG("ecrt_slave_config_sdo(sc = 0x%x, index = 0x%04X, "
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   637
                "subindex = 0x%02X, data = 0x%x, size = %u)\n", (u32) sc,
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   638
                index, subindex, (u32) data, size);
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   639
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   640
    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
   641
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   642
        return -1;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   643
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   644
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   645
    if (!(req = (ec_sdo_request_t *)
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   646
          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   647
        EC_ERR("Failed to allocate memory for Sdo configuration!\n");
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   648
        return -1;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   649
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   650
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   651
    ec_sdo_request_init(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   652
    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
   653
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   654
    if (ec_sdo_request_copy_data(req, data, size)) {
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   655
        ec_sdo_request_clear(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   656
        kfree(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   657
        return -1;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   658
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   659
        
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
   660
    down(&sc->master->master_sem);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   661
    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
   662
    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
   663
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   664
    return 0;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   665
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   666
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   667
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   668
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   669
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
   670
        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
   671
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
    uint8_t data[1];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   673
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   674
    if (sc->master->debug_level)
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   675
        EC_DBG("ecrt_slave_config_sdo8(sc = 0x%x, index = 0x%04X, "
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   676
                "subindex = 0x%02X, value = %u)\n", (u32) sc,
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   677
                index, subindex, (u32) value);
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   678
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
    EC_WRITE_U8(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   680
    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
   681
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   682
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   683
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   684
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   685
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
   686
        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
   687
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
    uint8_t data[2];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   689
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   690
    if (sc->master->debug_level)
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   691
        EC_DBG("ecrt_slave_config_sdo16(sc = 0x%x, index = 0x%04X, "
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   692
                "subindex = 0x%02X, value = %u)\n", (u32) sc,
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   693
                index, subindex, value);
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   694
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
    EC_WRITE_U16(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   696
    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
   697
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   698
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   699
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   700
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   701
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
   702
        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
   703
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
    uint8_t data[4];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   705
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   706
    if (sc->master->debug_level)
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   707
        EC_DBG("ecrt_slave_config_sdo32(sc = 0x%x, index = 0x%04X, "
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   708
                "subindex = 0x%02X, value = %u)\n", (u32) sc,
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   709
                index, subindex, value);
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   710
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   711
    EC_WRITE_U32(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   712
    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
   713
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   717
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   718
        uint16_t index, uint8_t subindex, size_t size)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   719
{
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   720
    ec_sdo_request_t *req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   721
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   722
    if (sc->master->debug_level)
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   723
        EC_DBG("ecrt_slave_config_create_sdo_request(sc = 0x%x, "
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   724
                "index = 0x%04X, subindex = 0x%02X, size = %u)\n", (u32) sc,
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   725
                index, subindex, size);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
   726
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   727
    if (!(req = (ec_sdo_request_t *)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   728
                kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   729
        EC_ERR("Failed to allocate Sdo request memory!\n");
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   730
        return NULL;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   731
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   732
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   733
    ec_sdo_request_init(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   734
    ec_sdo_request_address(req, index, subindex);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   735
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   736
    if (ec_sdo_request_alloc(req, size)) {
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   737
        ec_sdo_request_clear(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   738
        kfree(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   739
        return NULL;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   740
    }
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   741
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   742
    // 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
   743
    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
   744
    req->data_size = size;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   745
    
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
   746
    down(&sc->master->master_sem);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   747
    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
   748
    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
   749
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   750
    return req; 
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   751
}
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   752
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   753
/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   754
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   755
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   756
        size_t size)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   757
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   758
    ec_voe_handler_t *voe;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   759
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   760
    if (sc->master->debug_level)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   761
        EC_DBG("ecrt_slave_config_create_voe_handler(sc = 0x%x, size = %u)\n",
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   762
                (u32) sc, size);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   763
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   764
    if (!(voe = (ec_voe_handler_t *)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   765
                kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   766
        EC_ERR("Failed to allocate Sdo request memory!\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   767
        return NULL;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   768
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   769
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   770
    if (ec_voe_handler_init(voe, sc, size)) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   771
        kfree(voe);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   772
        return NULL;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   773
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   774
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   775
    down(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   776
    list_add_tail(&voe->list, &sc->voe_handlers);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   777
    up(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   778
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   779
    return voe; 
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   780
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   781
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   782
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   783
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   784
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
   785
        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
   786
{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   787
    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
   788
    if (state->online) {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   789
        state->operational =
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   790
            sc->slave->current_state == EC_SLAVE_STATE_OP;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   791
        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
   792
    } else {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   793
        state->operational = 0;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   794
        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
   795
    }
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   796
}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   797
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   798
/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   799
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   800
/** \cond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   802
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   803
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
   804
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
   805
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
   806
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
   807
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
   808
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   809
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
   810
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
   811
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
   812
EXPORT_SYMBOL(ecrt_slave_config_sdo32);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   813
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
1215
3bedd338ff76 Added missing export.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   814
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
   815
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
   816
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
/** \endcond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   818
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
/*****************************************************************************/