master/slave_config.c
author Andreas Stewering-Bone <ab@igh-essen.com>
Mon, 07 Feb 2011 21:30:25 +0100
changeset 2052 77e7946da53b
parent 1966 23c638a81fe7
child 2004 be807e224b0e
child 2115 2ec1239216e5
permissions -rw-r--r--
Merge, adding 8139too for 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) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *  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/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->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;
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    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;
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    sc->dc_assign_activate = 0x0000;
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    sc->dc_sync[0].cycle_time = 0x00000000;
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    sc->dc_sync[1].cycle_time = 0x00000000;
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    sc->dc_sync[0].shift_time = 0x00000000;
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    sc->dc_sync[1].shift_time = 0x00000000;
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    INIT_LIST_HEAD(&sc->sdo_configs);
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    INIT_LIST_HEAD(&sc->sdo_requests);
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    INIT_LIST_HEAD(&sc->voe_handlers);
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    INIT_LIST_HEAD(&sc->soe_configs);
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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_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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    // free all SDO requests
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    list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {
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        list_del(&req->list);
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        ec_sdo_request_clear(req);
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        kfree(req);
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    }
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    // free all VoE handlers
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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {
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        list_del(&voe->list);
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        ec_voe_handler_clear(voe);
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        kfree(voe);
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    }
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    // 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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}
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/*****************************************************************************/
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/** Prepares an FMMU configuration.
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 *
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 * Configuration data for the FMMU is saved in the slave config structure and
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 * is written to the slave during the configuration. The FMMU configuration
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 * is done in a way, that the complete data range of the corresponding sync
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 * manager is covered. Seperate FMMUs are configured for each domain. If the
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 * FMMU configuration is already prepared, the function does nothing and
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 * returns with success.
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 *
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 * \retval >=0 Success, logical offset byte address.
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 * \retval  <0 Error code.
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 */
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int ec_slave_config_prepare_fmmu(
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        ec_slave_config_t *sc, /**< Slave configuration. */
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        ec_domain_t *domain, /**< Domain. */
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        uint8_t sync_index, /**< Sync manager index. */
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        ec_direction_t dir /**< PDO direction. */
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        )
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{
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    unsigned int i;
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    ec_fmmu_config_t *fmmu;
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    // FMMU configuration already prepared?
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    for (i = 0; i < sc->used_fmmus; i++) {
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        fmmu = &sc->fmmu_configs[i];
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        if (fmmu->domain == domain && fmmu->sync_index == sync_index)
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            return fmmu->logical_start_address;
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    }
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    if (sc->used_fmmus == EC_MAX_FMMUS) {
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        EC_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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    down(&sc->master->master_sem);
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    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
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    up(&sc->master->master_sem);
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    return fmmu->logical_start_address;
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}
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/*****************************************************************************/
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/** Attaches the configuration to the addressed slave object.
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 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_slave_config_attach(
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        ec_slave_config_t *sc /**< Slave configuration. */
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        )
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{
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    ec_slave_t *slave;
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    if (sc->slave)
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        return 0; // already attached
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    if (!(slave = ec_master_find_slave(
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   206
                    sc->master, sc->alias, sc->position))) {
1921
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   207
        EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");
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   208
        return -ENOENT;
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   209
    }
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    if (slave->config) {
1921
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        EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"
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   213
                " already has a configuration!\n", slave->ring_position);
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   214
        return -EEXIST;
1025
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   215
    }
1145
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   216
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   217
    if (slave->sii.vendor_id != sc->vendor_id
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   218
            || slave->sii.product_code != sc->product_code) {
1921
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   219
        EC_CONFIG_DBG(sc, 1, "Slave %u has an invalid type (0x%08X/0x%08X)"
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   220
                " for configuration (0x%08X/0x%08X).\n",
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   221
                slave->ring_position, slave->sii.vendor_id,
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   222
                slave->sii.product_code, sc->vendor_id, sc->product_code);
1313
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   223
        return -EINVAL;
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   224
    }
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    // attach slave
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    slave->config = sc;
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   228
    sc->slave = slave;
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   229
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   230
    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
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   231
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    EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);
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   234
    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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   243
        )
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{
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    if (sc->slave) {
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        sc->slave->config = NULL;
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   247
        sc->slave = NULL;
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   248
    }
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}
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/*****************************************************************************/
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   252
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   253
/** Loads the default PDO assignment from the slave object.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   254
 */
1055
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   255
void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)
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   256
{
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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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    }
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}
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/*****************************************************************************/
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/** Loads the default mapping for a PDO from the slave object.
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 */
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void ec_slave_config_load_default_mapping(
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        const ec_slave_config_t *sc,
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        ec_pdo_t *pdo
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        )
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{
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    unsigned int i;
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    const ec_sync_t *sync;
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    const ec_pdo_t *default_pdo;
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    if (!sc->slave)
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        return;
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    EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",
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            pdo->index);
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    // find PDO in any sync manager (it could be reassigned later)
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    for (i = 0; i < sc->slave->sii.sync_count; i++) {
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        sync = &sc->slave->sii.syncs[i];
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        list_for_each_entry(default_pdo, &sync->pdos.list, list) {
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            if (default_pdo->index != pdo->index)
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                continue;
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            if (default_pdo->name) {
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                EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",
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                        default_pdo->name);
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   306
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                // take PDO name from assigned one
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   308
                ec_pdo_set_name(pdo, default_pdo->name);
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   309
            }
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   310
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            // copy entries (= default PDO mapping)
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            if (ec_pdo_copy_entries(pdo, default_pdo))
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   313
                return;
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   314
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   315
            if (sc->master->debug_level) {
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   316
                const ec_pdo_entry_t *entry;
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   317
                list_for_each_entry(entry, &pdo->entries, list) {
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   318
                    EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",
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   319
                            entry->index, entry->subindex);
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   320
                }
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   321
            }
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   322
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   323
            return;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff changeset
   324
        }
792
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   325
    }
1055
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   326
1921
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   327
    EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");
792
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   328
}
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   329
990
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   330
/*****************************************************************************/
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   331
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   332
/** Get the number of SDO configurations.
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   333
 *
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   334
 * \return Number of SDO configurations.
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69393cf60399 Improved source code doc.
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   335
 */
990
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   336
unsigned int ec_slave_config_sdo_count(
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   337
        const ec_slave_config_t *sc /**< Slave configuration. */
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   338
        )
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   339
{
1507
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   340
    const ec_sdo_request_t *req;
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   341
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   342
68e89abadd19 Removed unwanted tabulators.
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   343
    list_for_each_entry(req, &sc->sdo_configs, list) {
68e89abadd19 Removed unwanted tabulators.
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   344
        count++;
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diff changeset
   345
    }
68e89abadd19 Removed unwanted tabulators.
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   346
68e89abadd19 Removed unwanted tabulators.
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   347
    return count;
990
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   348
}
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   349
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   350
/*****************************************************************************/
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   351
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   352
/** Finds an SDO configuration via its position in the list.
990
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   353
 *
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   354
 * Const version.
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   355
 */
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   356
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
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   357
        const ec_slave_config_t *sc, /**< Slave configuration. */
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   358
        unsigned int pos /**< Position in the list. */
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   359
        )
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   360
{
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   361
    const ec_sdo_request_t *req;
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   362
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   363
    list_for_each_entry(req, &sc->sdo_configs, list) {
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diff changeset
   364
        if (pos--)
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   365
            continue;
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   366
        return req;
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   367
    }
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   368
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   369
    return NULL;
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   370
}
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   371
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f44720defbc5 Added ec_slave_config_find_voe_handler().
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   372
/*****************************************************************************/
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   373
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
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   374
/** Get the number of IDN configurations.
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   375
 *
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   376
 * \return Number of SDO configurations.
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   377
 */
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diff changeset
   378
unsigned int ec_slave_config_idn_count(
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diff changeset
   379
        const ec_slave_config_t *sc /**< Slave configuration. */
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diff changeset
   380
        )
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   381
{
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diff changeset
   382
    const ec_soe_request_t *req;
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diff changeset
   383
    unsigned int count = 0;
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diff changeset
   384
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
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diff changeset
   385
    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
   386
        count++;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   387
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   388
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   389
    return count;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   390
}
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   391
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   392
/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   393
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   394
/** 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
   395
 *
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   396
 * Const version.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   397
 */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   398
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
   399
        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
   400
        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
   401
        )
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   402
{
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   403
    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
   404
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   405
    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
   406
        if (pos--)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   407
            continue;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   408
        return req;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   409
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   410
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   411
    return NULL;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   412
}
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
/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
   415
1263
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   416
/** Finds a VoE handler via its position in the list.
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   417
 */
1351
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   418
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
   419
        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
   420
        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
   421
        )
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   422
{
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   423
    ec_sdo_request_t *req;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   424
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   425
    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
   426
        if (pos--)
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   427
            continue;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   428
        return req;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   429
    }
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   430
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   431
    return NULL;
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   432
}
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   433
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   434
/*****************************************************************************/
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   435
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   436
/** Finds a VoE handler via its position in the list.
cf8f08631c8e Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   437
 */
1263
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   438
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
   439
        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
   440
        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
   441
        )
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   442
{
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   443
    ec_voe_handler_t *voe;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   444
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   445
    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
   446
        if (pos--)
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   447
            continue;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   448
        return voe;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   449
    }
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   450
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   451
    return NULL;
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   452
}
f44720defbc5 Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents: 1215
diff changeset
   453
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
/******************************************************************************
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   455
 *  Application interface
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   458
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
   459
        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
   460
{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   461
    ec_sync_config_t *sync_config;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   462
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   463
    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
   464
            " sync_index = %u, dir = %i, watchdog_mode = %i)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   465
            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
   466
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   467
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   468
        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
   469
        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
   470
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   471
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   472
    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   473
        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
   474
        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
   475
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   476
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   477
    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
   478
    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
   479
    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
   480
    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
   481
}
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   482
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   483
/*****************************************************************************/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   484
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   485
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
   486
        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
   487
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   488
    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
   489
            __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
   490
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   491
    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
   492
    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
   493
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   494
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   495
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   496
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   497
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
   498
        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
   499
{
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   500
    ec_pdo_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
   501
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   502
    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
   503
            "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
   504
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   505
    if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   506
        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
   507
        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
   508
    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   509
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
   510
    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
   511
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   512
    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
   513
    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
   514
        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
   515
        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
   516
    }
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   517
    pdo->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
   518
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   519
    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
   520
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
   521
    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
   522
    return 0;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   523
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   524
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   525
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   526
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   527
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
   528
        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
   529
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   530
    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
   531
            __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
   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);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   535
        return;
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
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1059
diff changeset
   538
    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
   539
    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
   540
    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
   541
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   542
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   543
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   544
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   545
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
   546
        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
   547
        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
   548
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   549
    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
   550
    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
   551
    ec_pdo_entry_t *entry;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   552
    int retval = 0;
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   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, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   555
            "pdo_index = 0x%04X, entry_index = 0x%04X, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   556
            "entry_subindex = 0x%02X, entry_bit_length = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   557
            __func__, sc, pdo_index, entry_index, entry_subindex,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   558
            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
   559
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   560
    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
   561
        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
   562
                        &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
   563
            break;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   564
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
   565
    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
   566
        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
   567
        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
   568
                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
   569
        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
   570
        if (IS_ERR(entry))
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   571
            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
   572
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   573
        EC_CONFIG_ERR(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   574
        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
   575
    }
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
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
    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
   578
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   579
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   580
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   581
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   582
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
   583
        uint16_t pdo_index)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   584
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   585
    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
   586
    ec_pdo_t *pdo = NULL;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   587
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   588
    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
   589
            __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
   590
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   591
    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   592
        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
   593
                        &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
   594
            break;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   595
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
   596
    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
   597
        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
   598
        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
   599
        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
   600
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   601
        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
   602
    }
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   603
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   604
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   605
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   606
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   607
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
   608
        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
   609
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   610
    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
   611
    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
   612
    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
   613
    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
   614
    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
   615
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   616
    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
   617
            __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
   618
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   619
    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
   620
        return 0;
4c16fe64b403 Return out of ecrt_slave_config_pdos() when pdo_infos == NULL
Richard Hacker <ha@igh-essen.com>
parents: 1025
diff changeset
   621
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   622
    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
   623
        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
   624
1097
f974ced181f3 Using EC_END.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   625
        if (sync_info->index == (uint8_t) EC_END)
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   626
            break;
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   627
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   628
        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   629
            EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   630
                    sync_info->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   631
            return -ENOENT;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   632
        }
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   633
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   634
        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
   635
                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
   636
        if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   637
            return ret;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   638
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   639
        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
   640
            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
   641
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   642
            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
   643
                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
   644
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   645
                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
   646
                        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
   647
                if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   648
                    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
   649
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   650
                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
   651
                    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
   652
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   653
                    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
   654
                        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
   655
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   656
                        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
   657
                                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
   658
                                entry_info->subindex,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   659
                                entry_info->bit_length);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   660
                        if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   661
                            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
   662
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   663
                }
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   664
            }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   665
        }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   666
    }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   667
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
    return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   673
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
   674
        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
   675
        uint16_t index,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   676
        uint8_t subindex,
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   677
        ec_domain_t *domain,
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   678
        unsigned int *bit_position
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   679
        )
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
   680
{
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   681
    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
   682
    const ec_sync_config_t *sync_config;
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 924
diff changeset
   683
    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
   684
    ec_pdo_t *pdo;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   685
    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
   686
    int sync_offset;
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   687
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   688
    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
   689
            "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
   690
            __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
   691
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   692
    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
   693
        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
   694
        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
   695
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   696
        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
   697
            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
   698
                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
   699
                    bit_offset += entry->bit_length;
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   700
                } 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
   701
                    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
   702
                    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
   703
                        *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
   704
                    } else if (bit_pos) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   705
                        EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   706
                                " 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
   707
                        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
   708
                    }
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
   709
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
   710
                    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
   711
                            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
   712
                    if (sync_offset < 0)
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   713
                        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
   714
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
                    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
   716
                }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   717
            }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   718
        }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   719
    }
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 797
diff changeset
   720
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   721
    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
   722
           index, subindex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   723
    return -ENOENT;
924
d8d9a1056afa Fixed missing right brace
Richard Hacker <ha@igh-essen.com>
parents: 923
diff changeset
   724
}
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   725
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   726
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   727
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   728
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   729
        uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   730
        uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   731
{
1933
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   732
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X,"
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   733
            " sync0_cycle = %u, sync0_shift = %u,"
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   734
            " sync1_cycle = %u, sync1_shift = %u\n",
d11036537092 Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   735
            __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
   736
            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
   737
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   738
    sc->dc_assign_activate = assign_activate;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   739
    sc->dc_sync[0].cycle_time = sync0_cycle_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   740
    sc->dc_sync[0].shift_time = sync0_shift_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   741
    sc->dc_sync[1].cycle_time = sync1_cycle_time;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   742
    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
   743
}
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   744
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   745
/*****************************************************************************/
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   746
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   747
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
   748
        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
   749
{
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   750
    ec_slave_t *slave = sc->slave;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   751
    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
   752
    int ret;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
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, data = 0x%p, size = %zu)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   756
            __func__, sc, index, subindex, data, size);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   757
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   758
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   759
        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
   760
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   761
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   762
    if (!(req = (ec_sdo_request_t *)
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   763
          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   764
        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   765
                " SDO configuration!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   766
        return -ENOMEM;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   767
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   768
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   769
    ec_sdo_request_init(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   770
    ec_sdo_request_address(req, index, subindex);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   771
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   772
    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
   773
    if (ret < 0) {
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   774
        ec_sdo_request_clear(req);
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   775
        kfree(req);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   776
        return ret;
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   777
    }
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   778
        
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
   779
    down(&sc->master->master_sem);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   780
    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
   781
    up(&sc->master->master_sem);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   782
    return 0;
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   783
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   784
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   785
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   786
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   787
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
   788
        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
   789
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   790
    uint8_t data[1];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   791
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   792
    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
   793
            "subindex = 0x%02X, value = %u)\n",
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   794
            __func__, sc, index, subindex, (unsigned int) value);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   795
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   796
    EC_WRITE_U8(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   797
    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
   798
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   799
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   800
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   801
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   802
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
   803
        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
   804
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   805
    uint8_t data[2];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   806
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   807
    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
   808
            "subindex = 0x%02X, value = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   809
            __func__, sc, index, subindex, value);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   810
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
    EC_WRITE_U16(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   812
    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
   813
}
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   814
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   815
/*****************************************************************************/
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   816
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   817
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
   818
        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
   819
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
    uint8_t data[4];
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   821
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   822
    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
   823
            "subindex = 0x%02X, value = %u)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   824
            __func__, sc, index, subindex, value);
1115
b7b965ab94cd Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents: 1097
diff changeset
   825
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   826
    EC_WRITE_U32(data, value);
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   827
    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
   828
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   829
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   830
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   832
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
   833
        const uint8_t *data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   834
{
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   835
    ec_slave_t *slave = sc->slave;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   836
    ec_sdo_request_t *req;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   837
    int ret;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   838
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   839
    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
   840
            "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
   841
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   842
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   843
        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
   844
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   845
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   846
    if (!(req = (ec_sdo_request_t *)
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   847
          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   848
        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   849
                " SDO configuration!\n");
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   850
        return -ENOMEM;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   851
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   852
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   853
    ec_sdo_request_init(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   854
    ec_sdo_request_address(req, index, 0);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   855
    req->complete_access = 1;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   856
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   857
    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
   858
    if (ret < 0) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   859
        ec_sdo_request_clear(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   860
        kfree(req);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   861
        return ret;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   862
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   863
        
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   864
    down(&sc->master->master_sem);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   865
    list_add_tail(&req->list, &sc->sdo_configs);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   866
    up(&sc->master->master_sem);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   867
    return 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   868
}
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   869
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   870
/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   871
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   872
/** 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
   873
 * value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   874
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   875
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
   876
        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
   877
{
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   878
    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
   879
    int ret;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   880
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   881
    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   882
            "index = 0x%04X, subindex = 0x%02X, size = %zu)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   883
            __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
   884
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   885
    if (!(req = (ec_sdo_request_t *)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   886
                kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   887
        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
   888
        return ERR_PTR(-ENOMEM);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   889
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   890
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   891
    ec_sdo_request_init(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   892
    ec_sdo_request_address(req, index, subindex);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   893
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   894
    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
   895
    if (ret < 0) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   896
        ec_sdo_request_clear(req);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   897
        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
   898
        return ERR_PTR(ret);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   899
    }
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   900
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   901
    // 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
   902
    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
   903
    req->data_size = size;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   904
    
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
   905
    down(&sc->master->master_sem);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   906
    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
   907
    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
   908
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   909
    return req; 
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   910
}
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   911
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   912
/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   913
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   914
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
   915
        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
   916
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   917
    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
   918
            subindex, size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   919
    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
   920
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   921
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   922
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   923
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   924
/** 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
   925
 * value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   926
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   927
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
   928
        ec_slave_config_t *sc, size_t size)
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   929
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   930
    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
   931
    int ret;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   932
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   933
    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
   934
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   935
    if (!(voe = (ec_voe_handler_t *)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   936
                kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   937
        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
   938
        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
   939
    }
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   940
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   941
    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
   942
    if (ret < 0) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   943
        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
   944
        return ERR_PTR(ret);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   945
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   946
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   947
    down(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   948
    list_add_tail(&voe->list, &sc->voe_handlers);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   949
    up(&sc->master->master_sem);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   950
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   951
    return voe; 
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   952
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   953
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   954
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   955
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   956
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
   957
        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
   958
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   959
    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
   960
            size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   961
    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
   962
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   963
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   964
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   965
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   966
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
   967
        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
   968
{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   969
    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
   970
    if (state->online) {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   971
        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
   972
            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
   973
            && !sc->slave->force_config;
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   974
        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
   975
    } else {
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   976
        state->operational = 0;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   977
        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
   978
    }
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   979
}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   980
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   981
/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   982
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   983
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no, 
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   984
        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
   985
        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
   986
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
   987
    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
   988
    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
   989
    int ret;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
   990
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   991
    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
   992
            "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
   993
            __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
   994
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   995
    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
   996
        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
   997
                (unsigned int) drive_no);
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   998
        return -EINVAL;
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   999
    }
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1000
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1001
    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
  1002
        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
  1003
                " 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
  1004
        return -EINVAL;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1933
diff changeset
  1005
    }
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1006
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1007
    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1008
        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
  1009
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1010
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1011
    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
  1012
          kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1013
        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1014
                " 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
  1015
        return -ENOMEM;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1016
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1017
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1018
    ec_soe_request_init(req);
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1019
    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
  1020
    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
  1021
    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
  1022
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1023
    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
  1024
    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
  1025
        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
  1026
        kfree(req);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1027
        return ret;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1028
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1029
        
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1030
    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
  1031
    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
  1032
    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
  1033
    return 0;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1034
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1035
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1036
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
  1037
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1038
/** \cond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1039
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1054
diff changeset
  1040
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
  1041
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
  1042
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
  1043
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
  1044
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
  1045
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
  1046
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
  1047
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
  1048
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
  1049
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
  1050
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
  1051
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
  1052
EXPORT_SYMBOL(ecrt_slave_config_sdo32);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1053
EXPORT_SYMBOL(ecrt_slave_config_complete_sdo);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
  1054
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
1215
3bedd338ff76 Added missing export.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1055
EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler);
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
  1056
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
  1057
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
  1058
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1059
/** \endcond */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1060
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1061
/*****************************************************************************/