master/slave_config.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Wed, 23 Apr 2014 13:15:10 +0200
branchstable-1.5
changeset 2552 6e419c23b1b3
parent 2522 ec403cf308eb
child 2653 291dddb7233e
permissions -rw-r--r--
added ccat support for kernel 2.6.32
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *  vim: expandtab
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave configuration methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/slab.h>
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#include "globals.h"
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#include "master.h"
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#include "voe_handler.h"
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#include "slave_config.h"
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/*****************************************************************************/
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/** Slave configuration constructor.
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 *
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 * See ecrt_master_slave_config() for the usage of the \a alias and \a
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 * position parameters.
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 */
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void ec_slave_config_init(
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        ec_slave_config_t *sc, /**< Slave configuration. */
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        ec_master_t *master, /**< EtherCAT master. */
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        uint16_t alias, /**< Slave alias. */
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        uint16_t position, /**< Slave position. */
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        uint32_t vendor_id, /**< Expected vendor ID. */
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        uint32_t product_code /**< Expected product code. */
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        )
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{
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    unsigned int i;
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    sc->master = master;
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    sc->alias = alias;
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    sc->position = position;
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    sc->vendor_id = vendor_id;
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    sc->product_code = product_code;
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    sc->watchdog_divider = 0; // use default
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    sc->watchdog_intervals = 0; // use default
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    sc->slave = NULL;
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    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
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        ec_sync_config_init(&sc->sync_configs[i]);
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    sc->used_fmmus = 0;
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    sc->dc_assign_activate = 0x0000;
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    sc->dc_sync[0].cycle_time = 0U;
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    sc->dc_sync[1].cycle_time = 0;
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    sc->dc_sync[0].shift_time = 0U;
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    sc->dc_sync[1].shift_time = 0;
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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->reg_requests);
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    INIT_LIST_HEAD(&sc->voe_handlers);
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    INIT_LIST_HEAD(&sc->soe_configs);
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    ec_coe_emerg_ring_init(&sc->emerg_ring, sc);
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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_reg_request_t *reg, *next_reg;
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    ec_soe_request_t *soe, *next_soe;
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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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   124
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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 register requests
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    list_for_each_entry_safe(reg, next_reg, &sc->reg_requests, list) {
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        list_del(&reg->list);
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        ec_reg_request_clear(reg);
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        kfree(reg);
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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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    // free all SoE configurations
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    list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {
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        list_del(&soe->list);
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        ec_soe_request_clear(soe);
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        kfree(soe);
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    }
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    ec_coe_emerg_ring_clear(&sc->emerg_ring);
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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
916
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 * FMMU configuration is already prepared, the function does nothing and
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 * returns with success.
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 *
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 * \retval >=0 Success, logical offset byte address.
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 * \retval  <0 Error code.
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 */
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int ec_slave_config_prepare_fmmu(
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        ec_slave_config_t *sc, /**< Slave configuration. */
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        ec_domain_t *domain, /**< Domain. */
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        uint8_t sync_index, /**< Sync manager index. */
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        ec_direction_t dir /**< PDO direction. */
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        )
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{
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    unsigned int i;
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    ec_fmmu_config_t *fmmu;
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    // FMMU configuration already prepared?
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    for (i = 0; i < sc->used_fmmus; i++) {
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        fmmu = &sc->fmmu_configs[i];
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        if (fmmu->domain == domain && fmmu->sync_index == sync_index)
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            return fmmu->logical_start_address;
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    }
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    if (sc->used_fmmus == EC_MAX_FMMUS) {
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        EC_CONFIG_ERR(sc, "FMMU limit reached!\n");
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        return -EOVERFLOW;
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    }
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    fmmu = &sc->fmmu_configs[sc->used_fmmus++];
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94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
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    down(&sc->master->master_sem);
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   195
    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
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    up(&sc->master->master_sem);
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   197
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    return fmmu->logical_start_address;
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}
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/*****************************************************************************/
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/** Attaches the configuration to the addressed slave object.
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 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_slave_config_attach(
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        ec_slave_config_t *sc /**< Slave configuration. */
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        )
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{
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   212
    ec_slave_t *slave;
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   213
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    if (sc->slave)
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   215
        return 0; // already attached
792
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   216
927
ffb7d1876ce0 Introduced ec_master_find_slave().
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   217
    if (!(slave = ec_master_find_slave(
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   218
                    sc->master, sc->alias, sc->position))) {
1921
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   219
        EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");
1313
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   220
        return -ENOENT;
927
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diff changeset
   221
    }
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   222
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   223
    if (slave->config) {
1921
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   224
        EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"
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   225
                " already has a configuration!\n", slave->ring_position);
1313
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   226
        return -EEXIST;
1025
ae175095f09a Output attachment failure messages only when debugging.
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   227
    }
1145
133cf4631fcc Force reconfiguration after attachment.
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   228
2139
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   229
    if (
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   230
#ifdef EC_IDENT_WILDCARDS
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   231
            sc->vendor_id != 0xffffffff &&
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   232
#endif
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   233
            slave->sii.vendor_id != sc->vendor_id
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   234
       ) {
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   235
        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching vendor ID (0x%08X)"
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   236
                " for configuration (0x%08X).\n",
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   237
                slave->ring_position, slave->sii.vendor_id, sc->vendor_id);
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   238
        return -EINVAL;
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   239
    }
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   240
d64957379916 Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
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   241
    if (
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   242
#ifdef EC_IDENT_WILDCARDS
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   243
            sc->product_code != 0xffffffff &&
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   244
#endif
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   245
            slave->sii.product_code != sc->product_code
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   246
       ) {
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   247
        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching product code (0x%08X)"
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   248
                " for configuration (0x%08X).\n",
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   249
                slave->ring_position, slave->sii.product_code,
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   250
                sc->product_code);
1313
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   251
        return -EINVAL;
1507
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   252
    }
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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_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_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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        ec_reg_request_t *reg;
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        sc->slave->config = NULL;
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        // invalidate processing register request
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        list_for_each_entry(reg, &sc->reg_requests, list) {
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            if (sc->slave->fsm.reg_request == reg) {
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                sc->slave->fsm.reg_request = NULL;
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                break;
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            }
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        }
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        sc->slave = NULL;
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    }
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}
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/*****************************************************************************/
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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_SLAVE_WARN(sc->slave,
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                        "SM%u has an invalid direction field!\n", sync_index);
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            ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);
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        }
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   309
    }
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}
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/*****************************************************************************/
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   313
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/** Loads the default mapping for a PDO from the slave object.
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 */
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   316
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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   319
        )
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{
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   321
    unsigned int i;
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   322
    const ec_sync_t *sync;
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   323
    const ec_pdo_t *default_pdo;
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   324
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    if (!sc->slave)
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   326
        return;
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   327
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   328
    EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",
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   329
            pdo->index);
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   330
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   331
    // find PDO in any sync manager (it could be reassigned later)
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   332
    for (i = 0; i < sc->slave->sii.sync_count; i++) {
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   333
        sync = &sc->slave->sii.syncs[i];
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   334
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   335
        list_for_each_entry(default_pdo, &sync->pdos.list, list) {
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   336
            if (default_pdo->index != pdo->index)
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   337
                continue;
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   338
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   339
            if (default_pdo->name) {
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   340
                EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",
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   341
                        default_pdo->name);
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   342
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   343
                // take PDO name from assigned one
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   344
                ec_pdo_set_name(pdo, default_pdo->name);
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   345
            }
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   346
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   347
            // copy entries (= default PDO mapping)
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   348
            if (ec_pdo_copy_entries(pdo, default_pdo))
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   349
                return;
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   350
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diff changeset
   351
            if (sc->master->debug_level) {
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diff changeset
   352
                const ec_pdo_entry_t *entry;
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diff changeset
   353
                list_for_each_entry(entry, &pdo->entries, list) {
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diff changeset
   354
                    EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",
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diff changeset
   355
                            entry->index, entry->subindex);
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diff changeset
   356
                }
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diff changeset
   357
            }
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diff changeset
   358
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff changeset
   359
            return;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff changeset
   360
        }
792
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diff changeset
   361
    }
1055
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   362
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diff changeset
   363
    EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");
792
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diff changeset
   364
}
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diff changeset
   365
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   366
/*****************************************************************************/
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   367
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   368
/** Get the number of SDO configurations.
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   369
 *
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   370
 * \return Number of SDO configurations.
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   371
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   372
unsigned int ec_slave_config_sdo_count(
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   373
        const ec_slave_config_t *sc /**< Slave configuration. */
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diff changeset
   374
        )
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   375
{
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diff changeset
   376
    const ec_sdo_request_t *req;
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   377
    unsigned int count = 0;
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diff changeset
   378
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   379
    list_for_each_entry(req, &sc->sdo_configs, list) {
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diff changeset
   380
        count++;
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diff changeset
   381
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   382
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   383
    return count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   384
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   385
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   386
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   387
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   388
/** Finds an SDO configuration via its position in the list.
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   389
 *
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   390
 * Const version.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   391
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   392
 * \return Search result, or NULL.
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   393
 */
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   394
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   395
        const ec_slave_config_t *sc, /**< Slave configuration. */
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   396
        unsigned int pos /**< Position in the list. */
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   397
        )
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   398
{
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   399
    const ec_sdo_request_t *req;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   400
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   401
    list_for_each_entry(req, &sc->sdo_configs, list) {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   402
        if (pos--)
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   403
            continue;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   404
        return req;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   405
    }
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   406
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   407
    return NULL;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   408
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 941
diff changeset
   409
1263
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   410
/*****************************************************************************/
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   411
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   412
/** Get the number of IDN configurations.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   413
 *
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   414
 * \return Number of SDO configurations.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   415
 */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   416
unsigned int ec_slave_config_idn_count(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   417
        const ec_slave_config_t *sc /**< Slave configuration. */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   418
        )
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   419
{
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   420
    const ec_soe_request_t *req;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   421
    unsigned int count = 0;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   422
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   423
    list_for_each_entry(req, &sc->soe_configs, list) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   424
        count++;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   425
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   426
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   427
    return count;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   428
}
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   429
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   430
/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   431
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   432
/** Finds an IDN configuration via its position in the list.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   433
 *
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   434
 * Const version.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   435
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   436
 * \return Search result, or NULL.
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   437
 */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   438
const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   439
        const ec_slave_config_t *sc, /**< Slave configuration. */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   440
        unsigned int pos /**< Position in the list. */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   441
        )
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   442
{
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   443
    const ec_soe_request_t *req;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   444
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   445
    list_for_each_entry(req, &sc->soe_configs, list) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   446
        if (pos--)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   447
            continue;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   448
        return req;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   449
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   450
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   451
    return NULL;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   452
}
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   453
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   454
/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   455
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   456
/** Finds a CoE handler via its position in the list.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   457
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   458
 * \return Search result, or NULL.
1263
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   459
 */
1351
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   460
ec_sdo_request_t *ec_slave_config_find_sdo_request(
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   461
        ec_slave_config_t *sc, /**< Slave configuration. */
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   462
        unsigned int pos /**< Position in the list. */
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   463
        )
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   464
{
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   465
    ec_sdo_request_t *req;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   466
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   467
    list_for_each_entry(req, &sc->sdo_requests, list) {
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   468
        if (pos--)
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   469
            continue;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   470
        return req;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   471
    }
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   472
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   473
    return NULL;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   474
}
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   475
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   476
/*****************************************************************************/
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   477
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   478
/** Finds a register handler via its position in the list.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   479
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   480
 * \return Search result, or NULL.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   481
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   482
ec_reg_request_t *ec_slave_config_find_reg_request(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   483
        ec_slave_config_t *sc, /**< Slave configuration. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   484
        unsigned int pos /**< Position in the list. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   485
        )
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   486
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   487
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   488
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   489
    list_for_each_entry(reg, &sc->reg_requests, list) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   490
        if (pos--)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   491
            continue;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   492
        return reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   493
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   494
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   495
    return NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   496
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   497
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   498
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   499
1351
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   500
/** Finds a VoE handler via its position in the list.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   501
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   502
 * \return Search result, or NULL.
1351
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   503
 */
1263
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   504
ec_voe_handler_t *ec_slave_config_find_voe_handler(
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   505
        ec_slave_config_t *sc, /**< Slave configuration. */
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   506
        unsigned int pos /**< Position in the list. */
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   507
        )
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   508
{
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   509
    ec_voe_handler_t *voe;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   510
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   511
    list_for_each_entry(voe, &sc->voe_handlers, list) {
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   512
        if (pos--)
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   513
            continue;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   514
        return voe;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   515
    }
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   516
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   517
    return NULL;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   518
}
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   519
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
/******************************************************************************
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   521
 *  Application interface
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
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
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   525
        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   526
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   527
    ec_sync_config_t *sync_config;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   528
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   529
    EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   530
            " sync_index = %u, dir = %i, watchdog_mode = %i)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   531
            sc, sync_index, dir, watchdog_mode);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   532
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   533
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   534
        EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   535
        return -ENOENT;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   536
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   537
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   538
    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   539
        EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (unsigned int) dir);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   540
        return -EINVAL;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   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
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   543
    sync_config = &sc->sync_configs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   544
    sync_config->dir = dir;
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   545
    sync_config->watchdog_mode = watchdog_mode;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   546
    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
   547
}
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
/*****************************************************************************/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   550
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   551
void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   552
        uint16_t divider, uint16_t intervals)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   553
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   554
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, divider = %u, intervals = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   555
            __func__, sc, divider, intervals);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   556
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   557
    sc->watchdog_divider = divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   558
    sc->watchdog_intervals = intervals;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   559
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   560
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   561
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   562
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   563
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
   564
        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
   565
{
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   566
    ec_pdo_t *pdo;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   567
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   568
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   569
            "pdo_index = 0x%04X)\n", __func__, sc, sync_index, pdo_index);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   570
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   571
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   572
        EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   573
        return -EINVAL;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   574
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   575
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
   576
    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
   577
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   578
    pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   579
    if (IS_ERR(pdo)) {
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   580
        up(&sc->master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   581
        return PTR_ERR(pdo);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   582
    }
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   583
    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
   584
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   585
    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
   586
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
   587
    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
   588
    return 0;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   589
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   590
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   591
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   592
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   593
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
   594
        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
   595
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   596
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   597
            __func__, sc, sync_index);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   598
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   599
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   600
        EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", 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
   601
        return;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   602
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   603
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
   604
    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
   605
    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
   606
    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
   607
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   608
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   609
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   610
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   611
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
   612
        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
   613
        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
   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
    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
   616
    ec_pdo_t *pdo = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   617
    ec_pdo_entry_t *entry;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   618
    int retval = 0;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   619
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   620
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   621
            "pdo_index = 0x%04X, entry_index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   622
            "entry_subindex = 0x%02X, entry_bit_length = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   623
            __func__, sc, pdo_index, entry_index, entry_subindex,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   624
            entry_bit_length);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   625
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   626
    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
   627
        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
   628
                        &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
   629
            break;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   630
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
   631
    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
   632
        down(&sc->master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   633
        entry = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   634
                entry_bit_length);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   635
        up(&sc->master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   636
        if (IS_ERR(entry))
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   637
            retval = PTR_ERR(entry);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   638
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   639
        EC_CONFIG_ERR(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   640
        retval = -ENOENT;
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   641
    }
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
   642
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
   643
    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
   644
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   645
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   646
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   647
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   648
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
   649
        uint16_t pdo_index)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   650
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   651
    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
   652
    ec_pdo_t *pdo = NULL;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   653
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   654
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, pdo_index = 0x%04X)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   655
            __func__, sc, pdo_index);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   656
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   657
    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
   658
        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
   659
                        &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
   660
            break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   661
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
    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
   663
        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
   664
        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
   665
        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
   666
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   667
        EC_CONFIG_WARN(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
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
   668
    }
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   669
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   670
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   671
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   672
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   673
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
   674
        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
   675
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   676
    int ret;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   677
    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
   678
    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
   679
    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
   680
    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
   681
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   682
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, n_syncs = %u, syncs = 0x%p)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   683
            __func__, sc, n_syncs, syncs);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   684
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   685
    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
   686
        return 0;
4c16fe64b403 Return out of ecrt_slave_config_pdos() when pdo_infos == NULL
Richard Hacker <ha@igh-essen.com>
parents: 1025
diff changeset
   687
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   688
    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
   689
        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
   690
1097
f974ced181f3 Using EC_END.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   691
        if (sync_info->index == (uint8_t) EC_END)
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   692
            break;
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   693
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   694
        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   695
            EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   696
                    sync_info->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   697
            return -ENOENT;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   698
        }
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   699
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   700
        ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   701
                sync_info->dir, sync_info->watchdog_mode);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   702
        if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   703
            return ret;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   704
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   705
        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
   706
            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
   707
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   708
            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
   709
                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
   710
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   711
                ret = ecrt_slave_config_pdo_assign_add(
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   712
                        sc, sync_info->index, pdo_info->index);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   713
                if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   714
                    return ret;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   715
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   716
                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
   717
                    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
   718
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   719
                    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
   720
                        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
   721
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   722
                        ret = ecrt_slave_config_pdo_mapping_add(sc,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   723
                                pdo_info->index, entry_info->index,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   724
                                entry_info->subindex,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   725
                                entry_info->bit_length);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   726
                        if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   727
                            return ret;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   728
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   729
                }
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   730
            }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   731
        }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   732
    }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   733
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
    return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   739
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
   740
        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
   741
        uint16_t index,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   742
        uint8_t subindex,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   743
        ec_domain_t *domain,
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   744
        unsigned int *bit_position
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   745
        )
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   746
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   747
    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
   748
    const ec_sync_config_t *sync_config;
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   749
    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
   750
    ec_pdo_t *pdo;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   751
    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
   752
    int sync_offset;
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   753
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   754
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   755
            "subindex = 0x%02X, domain = 0x%p, bit_position = 0x%p)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   756
            __func__, sc, index, subindex, domain, bit_position);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   757
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   758
    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
   759
        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
   760
        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
   761
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   762
        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
   763
            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
   764
                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
   765
                    bit_offset += entry->bit_length;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   766
                } 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
   767
                    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
   768
                    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
   769
                        *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
   770
                    } else if (bit_pos) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   771
                        EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   772
                                " not byte-align.\n", index, subindex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   773
                        return -EFAULT;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   774
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   775
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
   776
                    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
   777
                            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
   778
                    if (sync_offset < 0)
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   779
                        return sync_offset;
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   780
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   781
                    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
   782
                }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   783
            }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   784
        }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   785
    }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   786
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   787
    EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X is not mapped.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   788
           index, subindex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   789
    return -ENOENT;
924
d8d9a1056afa Fixed missing right brace
Richard Hacker <ha@igh-essen.com>
parents: 923
diff changeset
   790
}
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   791
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   792
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   793
2505
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   794
int ecrt_slave_config_reg_pdo_entry_pos(
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   795
        ec_slave_config_t *sc,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   796
        uint8_t sync_index,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   797
        unsigned int pdo_pos,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   798
        unsigned int entry_pos,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   799
        ec_domain_t *domain,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   800
        unsigned int *bit_position
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   801
        )
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   802
{
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   803
    const ec_sync_config_t *sync_config;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   804
    unsigned int bit_offset, pp, ep;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   805
    ec_pdo_t *pdo;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   806
    ec_pdo_entry_t *entry;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   807
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   808
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, pdo_pos = %u,"
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   809
            " entry_pos = %u, domain = 0x%p, bit_position = 0x%p)\n",
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   810
            __func__, sc, sync_index, pdo_pos, entry_pos,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   811
            domain, bit_position);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   812
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   813
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   814
        EC_CONFIG_ERR(sc, "Invalid syncmanager position %u.\n", sync_index);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   815
        return -EINVAL;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   816
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   817
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   818
    sync_config = &sc->sync_configs[sync_index];
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   819
    bit_offset = 0;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   820
    pp = 0;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   821
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   822
    list_for_each_entry(pdo, &sync_config->pdos.list, list) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   823
        ep = 0;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   824
        list_for_each_entry(entry, &pdo->entries, list) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   825
            if (pp != pdo_pos || ep != entry_pos) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   826
                bit_offset += entry->bit_length;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   827
            } else {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   828
                unsigned int bit_pos = bit_offset % 8;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   829
                int sync_offset;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   830
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   831
                if (bit_position) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   832
                    *bit_position = bit_pos;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   833
                } else if (bit_pos) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   834
                    EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does"
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   835
                            " not byte-align.\n",
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   836
                            pdo->index, entry->subindex);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   837
                    return -EFAULT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   838
                }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   839
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   840
                sync_offset = ec_slave_config_prepare_fmmu(
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   841
                        sc, domain, sync_index, sync_config->dir);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   842
                if (sync_offset < 0)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   843
                    return sync_offset;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   844
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   845
                return sync_offset + bit_offset / 8;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   846
            }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   847
            ep++;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   848
        }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   849
        pp++;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   850
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   851
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   852
    EC_CONFIG_ERR(sc, "PDO entry specification %u/%u/%u out of range.\n",
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   853
           sync_index, pdo_pos, entry_pos);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   854
    return -ENOENT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   855
}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   856
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   857
/*****************************************************************************/
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2459
diff changeset
   858
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   859
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   860
        uint32_t sync0_cycle_time, int32_t sync0_shift_time,
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   861
        uint32_t sync1_cycle_time, int32_t sync1_shift_time)
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   862
{
1933
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   863
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X,"
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   864
            " sync0_cycle = %u, sync0_shift = %i,"
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   865
            " sync1_cycle = %u, sync1_shift = %i\n",
1933
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   866
            __func__, sc, assign_activate, sync0_cycle_time, sync0_shift_time,
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   867
            sync1_cycle_time, sync1_shift_time);
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   868
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   869
    sc->dc_assign_activate = assign_activate;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   870
    sc->dc_sync[0].cycle_time = sync0_cycle_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   871
    sc->dc_sync[0].shift_time = sync0_shift_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   872
    sc->dc_sync[1].cycle_time = sync1_cycle_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   873
    sc->dc_sync[1].shift_time = sync1_shift_time;
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   874
}
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   875
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   876
/*****************************************************************************/
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   877
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   878
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
   879
        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
   880
{
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   881
    ec_slave_t *slave = sc->slave;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   882
    ec_sdo_request_t *req;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   883
    int ret;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   884
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   885
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   886
            "subindex = 0x%02X, data = 0x%p, size = %zu)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   887
            __func__, sc, index, subindex, data, size);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   888
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   889
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   890
        EC_CONFIG_WARN(sc, "Attached slave does not support CoE!\n");
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   891
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   892
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   893
    if (!(req = (ec_sdo_request_t *)
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   894
          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   895
        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   896
                " SDO configuration!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   897
        return -ENOMEM;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   898
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   899
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   900
    ec_sdo_request_init(req);
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   901
    ecrt_sdo_request_index(req, index, subindex);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   902
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   903
    ret = ec_sdo_request_copy_data(req, data, size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   904
    if (ret < 0) {
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   905
        ec_sdo_request_clear(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   906
        kfree(req);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   907
        return ret;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   908
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   909
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
   910
    down(&sc->master->master_sem);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   911
    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
   912
    up(&sc->master->master_sem);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   913
    return 0;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   914
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   915
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   916
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   917
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   918
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
   919
        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
   920
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   921
    uint8_t data[1];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   922
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   923
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   924
            "subindex = 0x%02X, value = %u)\n",
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   925
            __func__, sc, index, subindex, (unsigned int) value);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   926
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   927
    EC_WRITE_U8(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   928
    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
   929
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   930
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   931
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   932
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   933
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
   934
        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
   935
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   936
    uint8_t data[2];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   937
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   938
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   939
            "subindex = 0x%02X, value = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   940
            __func__, sc, index, subindex, value);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   941
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   942
    EC_WRITE_U16(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   943
    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
   944
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   945
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   946
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   947
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   948
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
   949
        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
   950
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   951
    uint8_t data[4];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   952
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   953
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   954
            "subindex = 0x%02X, value = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   955
            __func__, sc, index, subindex, value);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   956
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   957
    EC_WRITE_U32(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   958
    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
   959
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   960
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   961
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   963
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   964
        const uint8_t *data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   965
{
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   966
    ec_slave_t *slave = sc->slave;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   967
    ec_sdo_request_t *req;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   968
    int ret;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   969
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   970
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   971
            "data = 0x%p, size = %zu)\n", __func__, sc, index, data, size);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   972
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   973
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   974
        EC_CONFIG_WARN(sc, "Attached slave does not support CoE!\n");
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   975
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   976
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   977
    if (!(req = (ec_sdo_request_t *)
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   978
          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   979
        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   980
                " SDO configuration!\n");
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   981
        return -ENOMEM;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   982
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   983
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   984
    ec_sdo_request_init(req);
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   985
    ecrt_sdo_request_index(req, index, 0);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   986
    req->complete_access = 1;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   987
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   988
    ret = ec_sdo_request_copy_data(req, data, size);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   989
    if (ret < 0) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   990
        ec_sdo_request_clear(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   991
        kfree(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   992
        return ret;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   993
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   994
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   995
    down(&sc->master->master_sem);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   996
    list_add_tail(&req->list, &sc->sdo_configs);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   997
    up(&sc->master->master_sem);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   998
    return 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   999
}
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1000
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1001
/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1002
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1003
int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1004
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1005
    return ec_coe_emerg_ring_size(&sc->emerg_ring, elements);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1006
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1007
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1008
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1009
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1010
int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1011
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1012
    return ec_coe_emerg_ring_pop(&sc->emerg_ring, target);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1013
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1014
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1015
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1016
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1017
int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1018
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1019
    return ec_coe_emerg_ring_clear_ring(&sc->emerg_ring);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1020
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1021
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1022
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1023
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1024
int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1025
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1026
    return ec_coe_emerg_ring_overruns(&sc->emerg_ring);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1027
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1028
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1029
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1030
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1031
/** Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1032
 * value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1033
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1034
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1035
        ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1036
{
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1037
    ec_sdo_request_t *req;
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1038
    int ret;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1039
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1040
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1041
            "index = 0x%04X, subindex = 0x%02X, size = %zu)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1042
            __func__, sc, index, subindex, size);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1043
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1044
    if (!(req = (ec_sdo_request_t *)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1045
                kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1046
        EC_CONFIG_ERR(sc, "Failed to allocate SDO request memory!\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1047
        return ERR_PTR(-ENOMEM);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1048
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1049
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1050
    ec_sdo_request_init(req);
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
  1051
    ecrt_sdo_request_index(req, index, subindex);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1052
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1053
    ret = ec_sdo_request_alloc(req, size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1054
    if (ret < 0) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1055
        ec_sdo_request_clear(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1056
        kfree(req);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1057
        return ERR_PTR(ret);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1058
    }
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
  1059
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
  1060
    // 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
  1061
    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
  1062
    req->data_size = size;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1063
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
  1064
    down(&sc->master->master_sem);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1065
    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
  1066
    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
  1067
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1068
    return req;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1069
}
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1070
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1071
/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1072
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1073
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1074
        ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1075
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1076
    ec_sdo_request_t *s = ecrt_slave_config_create_sdo_request_err(sc, index,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1077
            subindex, size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1078
    return IS_ERR(s) ? NULL : s;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1079
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1080
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1081
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1082
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1083
/** Same as ecrt_slave_config_create_reg_request(), but with ERR_PTR() return
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1084
 * value.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1085
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1086
ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1087
        ec_slave_config_t *sc, size_t size)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1088
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1089
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1090
    int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1091
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1092
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n",
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1093
            __func__, sc, size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1094
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1095
    if (!(reg = (ec_reg_request_t *)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1096
                kmalloc(sizeof(ec_reg_request_t), GFP_KERNEL))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1097
        EC_CONFIG_ERR(sc, "Failed to allocate register request memory!\n");
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1098
        return ERR_PTR(-ENOMEM);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1099
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1100
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1101
    ret = ec_reg_request_init(reg, size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1102
    if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1103
        kfree(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1104
        return ERR_PTR(ret);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1105
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1106
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1107
    down(&sc->master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1108
    list_add_tail(&reg->list, &sc->reg_requests);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1109
    up(&sc->master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1110
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1111
    return reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1112
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1113
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1114
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1115
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1116
ec_reg_request_t *ecrt_slave_config_create_reg_request(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1117
        ec_slave_config_t *sc, size_t size)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1118
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1119
    ec_reg_request_t *reg =
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1120
        ecrt_slave_config_create_reg_request_err(sc, size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1121
    return IS_ERR(reg) ? NULL : reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1122
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1123
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1124
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1125
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1126
/** Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1127
 * value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1128
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1129
ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1130
        ec_slave_config_t *sc, size_t size)
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1131
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1132
    ec_voe_handler_t *voe;
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1133
    int ret;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1134
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1135
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n", __func__, sc, size);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1136
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1137
    if (!(voe = (ec_voe_handler_t *)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1138
                kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1139
        EC_CONFIG_ERR(sc, "Failed to allocate VoE request memory!\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1140
        return ERR_PTR(-ENOMEM);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1141
    }
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1142
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1143
    ret = ec_voe_handler_init(voe, sc, size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1144
    if (ret < 0) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1145
        kfree(voe);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1146
        return ERR_PTR(ret);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1147
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1148
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1149
    down(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1150
    list_add_tail(&voe->list, &sc->voe_handlers);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1151
    up(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1152
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1153
    return voe;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1154
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1155
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1156
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1157
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1158
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1159
        ec_slave_config_t *sc, size_t size)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1160
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1161
    ec_voe_handler_t *voe = ecrt_slave_config_create_voe_handler_err(sc,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1162
            size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1163
    return IS_ERR(voe) ? NULL : voe;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1164
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1165
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1166
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1167
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1168
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
  1169
        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
  1170
{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1171
    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
  1172
    if (state->online) {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1173
        state->operational =
1277
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1263
diff changeset
  1174
            sc->slave->current_state == EC_SLAVE_STATE_OP
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1263
diff changeset
  1175
            && !sc->slave->force_config;
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1176
        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
  1177
    } else {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1178
        state->operational = 0;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1179
        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
  1180
    }
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1181
}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1182
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1183
/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1184
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1185
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1186
        uint16_t idn, ec_al_state_t state, const uint8_t *data,
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1187
        size_t size)
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1188
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1189
    ec_slave_t *slave = sc->slave;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1190
    ec_soe_request_t *req;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1191
    int ret;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1192
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1193
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, drive_no = %u, idn = 0x%04X, "
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1194
            "state = %u, data = 0x%p, size = %zu)\n",
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1195
            __func__, sc, drive_no, idn, state, data, size);
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1196
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1197
    if (drive_no > 7) {
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1198
        EC_CONFIG_ERR(sc, "Invalid drive number %u!\n",
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1199
                (unsigned int) drive_no);
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1200
        return -EINVAL;
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1201
    }
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1202
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1203
    if (state != EC_AL_STATE_PREOP && state != EC_AL_STATE_SAFEOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1204
        EC_CONFIG_ERR(sc, "AL state for IDN config"
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1205
                " must be PREOP or SAFEOP!\n");
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1206
        return -EINVAL;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1207
    }
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1208
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1209
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1210
        EC_CONFIG_WARN(sc, "Attached slave does not support SoE!\n");
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1211
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1212
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1213
    if (!(req = (ec_soe_request_t *)
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1214
          kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1215
        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1216
                " IDN configuration!\n");
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1217
        return -ENOMEM;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1218
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1219
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1220
    ec_soe_request_init(req);
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1221
    ec_soe_request_set_drive_no(req, drive_no);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1222
    ec_soe_request_set_idn(req, idn);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1223
    req->al_state = state;
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1224
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1225
    ret = ec_soe_request_copy_data(req, data, size);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1226
    if (ret < 0) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1227
        ec_soe_request_clear(req);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1228
        kfree(req);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1229
        return ret;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1230
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1231
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1232
    down(&sc->master->master_sem);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1233
    list_add_tail(&req->list, &sc->soe_configs);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1234
    up(&sc->master->master_sem);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1235
    return 0;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1236
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1237
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1238
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1239
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1240
/** \cond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
  1242
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1243
EXPORT_SYMBOL(ecrt_slave_config_watchdog);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
  1244
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
  1245
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
  1246
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
  1247
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
  1248
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
  1249
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1250
EXPORT_SYMBOL(ecrt_slave_config_dc);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1251
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
  1252
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
  1253
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
  1254
EXPORT_SYMBOL(ecrt_slave_config_sdo32);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1255
EXPORT_SYMBOL(ecrt_slave_config_complete_sdo);
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1256
EXPORT_SYMBOL(ecrt_slave_config_emerg_size);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1257
EXPORT_SYMBOL(ecrt_slave_config_emerg_pop);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1258
EXPORT_SYMBOL(ecrt_slave_config_emerg_clear);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1259
EXPORT_SYMBOL(ecrt_slave_config_emerg_overruns);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1260
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
1215
3bedd338ff76 Added missing export.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1261
EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler);
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1262
EXPORT_SYMBOL(ecrt_slave_config_create_reg_request);
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1263
EXPORT_SYMBOL(ecrt_slave_config_state);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1264
EXPORT_SYMBOL(ecrt_slave_config_idn);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
/** \endcond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
/*****************************************************************************/