author | Florian Pose <fp@igh-essen.com> |
Thu, 06 Dec 2012 13:54:09 +0100 | |
branch | stable-1.5 |
changeset 2480 | 8b1e26cc88ac |
parent 2459 | 8c7e674aa5d6 |
child 2505 | 5ef3197e5e1f |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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* vim: expandtab |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave configuration methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include <linux/slab.h> |
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#include "globals.h" |
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#include "master.h" |
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#include "voe_handler.h" |
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#include "slave_config.h" |
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/*****************************************************************************/ |
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/** Slave configuration constructor. |
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* |
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* See ecrt_master_slave_config() for the usage of the \a alias and \a |
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* position parameters. |
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*/ |
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void ec_slave_config_init( |
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ec_slave_config_t *sc, /**< Slave configuration. */ |
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ec_master_t *master, /**< EtherCAT master. */ |
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uint16_t alias, /**< Slave alias. */ |
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uint16_t position, /**< Slave position. */ |
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uint32_t vendor_id, /**< Expected vendor ID. */ |
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uint32_t product_code /**< Expected product code. */ |
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) |
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{ |
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unsigned int i; |
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sc->master = master; |
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sc->alias = alias; |
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sc->position = position; |
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sc->vendor_id = vendor_id; |
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sc->product_code = product_code; |
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sc->watchdog_divider = 0; // use default |
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sc->watchdog_intervals = 0; // use default |
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sc->slave = NULL; |
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for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) |
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ec_sync_config_init(&sc->sync_configs[i]); |
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sc->used_fmmus = 0; |
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sc->dc_assign_activate = 0x0000; |
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sc->dc_sync[0].cycle_time = 0U; |
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sc->dc_sync[1].cycle_time = 0; |
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sc->dc_sync[0].shift_time = 0U; |
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sc->dc_sync[1].shift_time = 0; |
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INIT_LIST_HEAD(&sc->sdo_configs); |
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INIT_LIST_HEAD(&sc->sdo_requests); |
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INIT_LIST_HEAD(&sc->reg_requests); |
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INIT_LIST_HEAD(&sc->voe_handlers); |
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INIT_LIST_HEAD(&sc->soe_configs); |
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ec_coe_emerg_ring_init(&sc->emerg_ring, sc); |
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} |
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/*****************************************************************************/ |
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/** Slave configuration destructor. |
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* Clears and frees a slave configuration object. |
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*/ |
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void ec_slave_config_clear( |
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ec_slave_config_t *sc /**< Slave configuration. */ |
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) |
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{ |
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unsigned int i; |
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ec_sdo_request_t *req, *next_req; |
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ec_voe_handler_t *voe, *next_voe; |
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ec_reg_request_t *reg, *next_reg; |
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ec_soe_request_t *soe, *next_soe; |
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ec_slave_config_detach(sc); |
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parents:
diff
changeset
|
113 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff
changeset
|
114 |
// Free sync managers |
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
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1075
diff
changeset
|
115 |
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff
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|
116 |
ec_sync_config_clear(&sc->sync_configs[i]); |
792
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Implemented most realtime interface changes for version 1.4, improved
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diff
changeset
|
117 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff
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|
118 |
// free all SDO configurations |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
844
diff
changeset
|
119 |
list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) { |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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parents:
844
diff
changeset
|
120 |
list_del(&req->list); |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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parents:
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diff
changeset
|
121 |
ec_sdo_request_clear(req); |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
122 |
kfree(req); |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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parents:
844
diff
changeset
|
123 |
} |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
changeset
|
124 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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1326
diff
changeset
|
125 |
// free all SDO requests |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
126 |
list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) { |
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
127 |
list_del(&req->list); |
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
128 |
ec_sdo_request_clear(req); |
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
129 |
kfree(req); |
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
130 |
} |
1209 | 131 |
|
2443
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
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2438
diff
changeset
|
132 |
// free all register requests |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
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parents:
2438
diff
changeset
|
133 |
list_for_each_entry_safe(reg, next_reg, &sc->reg_requests, list) { |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
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parents:
2438
diff
changeset
|
134 |
list_del(®->list); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
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parents:
2438
diff
changeset
|
135 |
ec_reg_request_clear(reg); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
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parents:
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diff
changeset
|
136 |
kfree(reg); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
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parents:
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diff
changeset
|
137 |
} |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
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parents:
2438
diff
changeset
|
138 |
|
1209 | 139 |
// free all VoE handlers |
140 |
list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) { |
|
141 |
list_del(&voe->list); |
|
142 |
ec_voe_handler_clear(voe); |
|
143 |
kfree(voe); |
|
144 |
} |
|
1844
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
145 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
146 |
// free all SoE configurations |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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parents:
1798
diff
changeset
|
147 |
list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) { |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
148 |
list_del(&soe->list); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
149 |
ec_soe_request_clear(soe); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
150 |
kfree(soe); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
151 |
} |
2438
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
152 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
153 |
ec_coe_emerg_ring_clear(&sc->emerg_ring); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
changeset
|
154 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
155 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
156 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
157 |
|
3778920f61e4
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parents:
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changeset
|
158 |
/** Prepares an FMMU configuration. |
3778920f61e4
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changeset
|
159 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
160 |
* Configuration data for the FMMU is saved in the slave config structure and |
3778920f61e4
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parents:
diff
changeset
|
161 |
* is written to the slave during the configuration. The FMMU configuration |
3778920f61e4
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parents:
diff
changeset
|
162 |
* is done in a way, that the complete data range of the corresponding sync |
3778920f61e4
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parents:
diff
changeset
|
163 |
* manager is covered. Seperate FMMUs are configured for each domain. If the |
916
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
164 |
* FMMU configuration is already prepared, the function does nothing and |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
165 |
* returns with success. |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
166 |
* |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
167 |
* \retval >=0 Success, logical offset byte address. |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
168 |
* \retval <0 Error code. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
169 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
int ec_slave_config_prepare_fmmu( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
ec_slave_config_t *sc, /**< Slave configuration. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
172 |
ec_domain_t *domain, /**< Domain. */ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
173 |
uint8_t sync_index, /**< Sync manager index. */ |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
174 |
ec_direction_t dir /**< PDO direction. */ |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
unsigned int i; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
ec_fmmu_config_t *fmmu; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
// FMMU configuration already prepared? |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
for (i = 0; i < sc->used_fmmus; i++) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
fmmu = &sc->fmmu_configs[i]; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
183 |
if (fmmu->domain == domain && fmmu->sync_index == sync_index) |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
return fmmu->logical_start_address; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
if (sc->used_fmmus == EC_MAX_FMMUS) { |
1921 | 188 |
EC_CONFIG_ERR(sc, "FMMU limit reached!\n"); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
189 |
return -EOVERFLOW; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
fmmu = &sc->fmmu_configs[sc->used_fmmus++]; |
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
|
193 |
|
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
|
194 |
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
|
195 |
ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir); |
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
|
196 |
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
|
197 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
return fmmu->logical_start_address; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
/** Attaches the configuration to the addressed slave object. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
205 |
* \retval 0 Success. |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
206 |
* \retval <0 Error code. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
int ec_slave_config_attach( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
ec_slave_config_t *sc /**< Slave configuration. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
{ |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
212 |
ec_slave_t *slave; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
213 |
|
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
214 |
if (sc->slave) |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
215 |
return 0; // already attached |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
|
927
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
217 |
if (!(slave = ec_master_find_slave( |
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
218 |
sc->master, sc->alias, sc->position))) { |
1921 | 219 |
EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n"); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
220 |
return -ENOENT; |
927
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
221 |
} |
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
222 |
|
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
223 |
if (slave->config) { |
1921 | 224 |
EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u" |
225 |
" already has a configuration!\n", slave->ring_position); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
226 |
return -EEXIST; |
1025
ae175095f09a
Output attachment failure messages only when debugging.
Florian Pose <fp@igh-essen.com>
parents:
1022
diff
changeset
|
227 |
} |
1145
133cf4631fcc
Force reconfiguration after attachment.
Florian Pose <fp@igh-essen.com>
parents:
1115
diff
changeset
|
228 |
|
2139
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
229 |
if ( |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
230 |
#ifdef EC_IDENT_WILDCARDS |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
231 |
sc->vendor_id != 0xffffffff && |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
232 |
#endif |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
233 |
slave->sii.vendor_id != sc->vendor_id |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
234 |
) { |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
235 |
EC_CONFIG_DBG(sc, 1, "Slave %u has no matching vendor ID (0x%08X)" |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
236 |
" for configuration (0x%08X).\n", |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
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parents:
2115
diff
changeset
|
237 |
slave->ring_position, slave->sii.vendor_id, sc->vendor_id); |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
238 |
return -EINVAL; |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
239 |
} |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
240 |
|
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
241 |
if ( |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
242 |
#ifdef EC_IDENT_WILDCARDS |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
243 |
sc->product_code != 0xffffffff && |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
244 |
#endif |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
245 |
slave->sii.product_code != sc->product_code |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
246 |
) { |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
247 |
EC_CONFIG_DBG(sc, 1, "Slave %u has no matching product code (0x%08X)" |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
248 |
" for configuration (0x%08X).\n", |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
249 |
slave->ring_position, slave->sii.product_code, |
d64957379916
Added --enable-wildcards to use 0xffffffff as wildcard for vendor ID and
Florian Pose <fp@igh-essen.com>
parents:
2115
diff
changeset
|
250 |
sc->product_code); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
251 |
return -EINVAL; |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
252 |
} |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
253 |
|
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
254 |
// attach slave |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
255 |
slave->config = sc; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
256 |
sc->slave = slave; |
1145
133cf4631fcc
Force reconfiguration after attachment.
Florian Pose <fp@igh-essen.com>
parents:
1115
diff
changeset
|
257 |
|
1921 | 258 |
EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position); |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
259 |
return 0; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
261 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
/** Detaches the configuration from a slave object. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
266 |
void ec_slave_config_detach( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
267 |
ec_slave_config_t *sc /**< Slave configuration. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
268 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
269 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
270 |
if (sc->slave) { |
2459
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
271 |
ec_reg_request_t *reg; |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
272 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
sc->slave->config = NULL; |
2459
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
274 |
|
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
275 |
// invalidate processing register request |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
276 |
list_for_each_entry(reg, &sc->reg_requests, list) { |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
277 |
if (sc->slave->fsm.reg_request == reg) { |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
278 |
sc->slave->fsm.reg_request = NULL; |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
279 |
break; |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
280 |
} |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
281 |
} |
8c7e674aa5d6
Invalidate processing register requests when clearing configuration.
Florian Pose <fp@igh-essen.com>
parents:
2449
diff
changeset
|
282 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
283 |
sc->slave = NULL; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
286 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
289 |
/** Loads the default PDO assignment from the slave object. |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
290 |
*/ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
291 |
void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc) |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
292 |
{ |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
293 |
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
|
294 |
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
|
295 |
const ec_sync_t *sync; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
if (!sc->slave) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
298 |
return; |
2421 | 299 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
300 |
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
|
301 |
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
|
302 |
if ((sync = ec_slave_get_sync(sc->slave, 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
|
303 |
sync_config->dir = ec_sync_default_direction(sync); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
304 |
if (sync_config->dir == EC_DIR_INVALID) |
1921 | 305 |
EC_SLAVE_WARN(sc->slave, |
306 |
"SM%u has an invalid direction field!\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
|
307 |
ec_pdo_list_copy(&sync_config->pdos, &sync->pdos); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
308 |
} |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
309 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
310 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
311 |
|
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
312 |
/*****************************************************************************/ |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
313 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
314 |
/** Loads the default mapping for a PDO from the slave object. |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
315 |
*/ |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
316 |
void ec_slave_config_load_default_mapping( |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
317 |
const ec_slave_config_t *sc, |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
318 |
ec_pdo_t *pdo |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
319 |
) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
320 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
321 |
unsigned int i; |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
322 |
const ec_sync_t *sync; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
323 |
const ec_pdo_t *default_pdo; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
324 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
325 |
if (!sc->slave) |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
326 |
return; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
327 |
|
1921 | 328 |
EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n", |
329 |
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
|
330 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
331 |
// find PDO in any sync manager (it could be reassigned later) |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
332 |
for (i = 0; i < sc->slave->sii.sync_count; i++) { |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
333 |
sync = &sc->slave->sii.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
|
334 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
335 |
list_for_each_entry(default_pdo, &sync->pdos.list, list) { |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
336 |
if (default_pdo->index != pdo->index) |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
337 |
continue; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
338 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
339 |
if (default_pdo->name) { |
1921 | 340 |
EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n", |
341 |
default_pdo->name); |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
342 |
|
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
343 |
// take PDO name from assigned one |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
344 |
ec_pdo_set_name(pdo, default_pdo->name); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
345 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
346 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
347 |
// copy entries (= default PDO mapping) |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
348 |
if (ec_pdo_copy_entries(pdo, default_pdo)) |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
349 |
return; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
350 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
351 |
if (sc->master->debug_level) { |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
352 |
const ec_pdo_entry_t *entry; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
353 |
list_for_each_entry(entry, &pdo->entries, list) { |
1921 | 354 |
EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n", |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
355 |
entry->index, entry->subindex); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
356 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
357 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
358 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
359 |
return; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
360 |
} |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
} |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
362 |
|
1921 | 363 |
EC_CONFIG_DBG(sc, 1, "No default mapping found.\n"); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
366 |
/*****************************************************************************/ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
367 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
368 |
/** Get the number of SDO configurations. |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
369 |
* |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
370 |
* \return Number of SDO configurations. |
1092 | 371 |
*/ |
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
372 |
unsigned int ec_slave_config_sdo_count( |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
373 |
const ec_slave_config_t *sc /**< Slave configuration. */ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
374 |
) |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
375 |
{ |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
376 |
const ec_sdo_request_t *req; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
377 |
unsigned int count = 0; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
378 |
|
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
379 |
list_for_each_entry(req, &sc->sdo_configs, list) { |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
380 |
count++; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
381 |
} |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
382 |
|
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
383 |
return count; |
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
384 |
} |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
385 |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
386 |
/*****************************************************************************/ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
387 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
388 |
/** Finds an SDO configuration via its position in the list. |
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
389 |
* |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
390 |
* Const version. |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
391 |
*/ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
392 |
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const( |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
393 |
const ec_slave_config_t *sc, /**< Slave configuration. */ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
394 |
unsigned int pos /**< Position in the list. */ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
395 |
) |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
396 |
{ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
397 |
const ec_sdo_request_t *req; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
398 |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
399 |
list_for_each_entry(req, &sc->sdo_configs, list) { |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
400 |
if (pos--) |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
401 |
continue; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
402 |
return req; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
403 |
} |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
404 |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
405 |
return NULL; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
406 |
} |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
407 |
|
1263
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
408 |
/*****************************************************************************/ |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
409 |
|
1966
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
410 |
/** Get the number of IDN configurations. |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
411 |
* |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
412 |
* \return Number of SDO configurations. |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
413 |
*/ |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
414 |
unsigned int ec_slave_config_idn_count( |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
415 |
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
|
416 |
) |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
417 |
{ |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
418 |
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
|
419 |
unsigned int count = 0; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
420 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
421 |
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
|
422 |
count++; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
423 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
424 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
425 |
return count; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
426 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
427 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
428 |
/*****************************************************************************/ |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
429 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
430 |
/** 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
|
431 |
* |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
432 |
* Const version. |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
433 |
*/ |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
434 |
const 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
|
435 |
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
|
436 |
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
|
437 |
) |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
438 |
{ |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
439 |
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
|
440 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
441 |
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
|
442 |
if (pos--) |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
443 |
continue; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
444 |
return req; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
445 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
446 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
447 |
return NULL; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
448 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
449 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
450 |
/*****************************************************************************/ |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1952
diff
changeset
|
451 |
|
2443
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
452 |
/** Finds a CoE handler via its position in the list. |
1263
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
453 |
*/ |
1351
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
454 |
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
|
455 |
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
|
456 |
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
|
457 |
) |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
458 |
{ |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
459 |
ec_sdo_request_t *req; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
460 |
|
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
461 |
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
|
462 |
if (pos--) |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
463 |
continue; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
464 |
return req; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
465 |
} |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
466 |
|
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
467 |
return NULL; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
468 |
} |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
469 |
|
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
470 |
/*****************************************************************************/ |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
471 |
|
2443
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
472 |
/** Finds a register handler via its position in the list. |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
473 |
*/ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
474 |
ec_reg_request_t *ec_slave_config_find_reg_request( |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
475 |
ec_slave_config_t *sc, /**< Slave configuration. */ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
476 |
unsigned int pos /**< Position in the list. */ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
477 |
) |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
478 |
{ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
479 |
ec_reg_request_t *reg; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
480 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
481 |
list_for_each_entry(reg, &sc->reg_requests, list) { |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
482 |
if (pos--) |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
483 |
continue; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
484 |
return reg; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
485 |
} |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
486 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
487 |
return NULL; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
488 |
} |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
489 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
490 |
/*****************************************************************************/ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
491 |
|
1351
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
492 |
/** 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
|
493 |
*/ |
1263
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
494 |
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
|
495 |
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
|
496 |
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
|
497 |
) |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
498 |
{ |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
499 |
ec_voe_handler_t *voe; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
500 |
|
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
501 |
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
|
502 |
if (pos--) |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
503 |
continue; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
504 |
return voe; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
505 |
} |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
506 |
|
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
507 |
return NULL; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
508 |
} |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
509 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
510 |
/****************************************************************************** |
1392
8fcc1d0987c1
DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
511 |
* Application interface |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
512 |
*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
513 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
514 |
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
|
515 |
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
|
516 |
{ |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
517 |
ec_sync_config_t *sync_config; |
2421 | 518 |
|
1921 | 519 |
EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p," |
520 |
" sync_index = %u, dir = %i, watchdog_mode = %i)\n", |
|
521 |
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
|
522 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
523 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 524 |
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
|
525 |
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
|
526 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
527 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
528 |
if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) { |
1931 | 529 |
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
|
530 |
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
|
531 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
532 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
533 |
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
|
534 |
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
|
535 |
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
|
536 |
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
|
537 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
538 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
539 |
/*****************************************************************************/ |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
540 |
|
1509
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
541 |
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
|
542 |
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
|
543 |
{ |
1921 | 544 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, divider = %u, intervals = %u)\n", |
545 |
__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
|
546 |
|
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
547 |
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
|
548 |
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
|
549 |
} |
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
550 |
|
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
551 |
/*****************************************************************************/ |
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
552 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
553 |
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
|
554 |
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
|
555 |
{ |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
556 |
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
|
557 |
|
1921 | 558 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, " |
559 |
"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
|
560 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
561 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 562 |
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
|
563 |
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
|
564 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
565 |
|
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
|
566 |
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
|
567 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
568 |
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
|
569 |
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
|
570 |
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
|
571 |
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
|
572 |
} |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
573 |
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
|
574 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
575 |
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
|
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 |
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
|
578 |
return 0; |
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 |
/*****************************************************************************/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
582 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
583 |
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
|
584 |
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
|
585 |
{ |
1921 | 586 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u)\n", |
587 |
__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
|
588 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
589 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 590 |
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
|
591 |
return; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
592 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
593 |
|
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
|
594 |
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
|
595 |
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
|
596 |
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
|
597 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
598 |
|
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
599 |
/*****************************************************************************/ |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
600 |
|
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
601 |
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
|
602 |
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
|
603 |
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
|
604 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
605 |
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
|
606 |
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
|
607 |
ec_pdo_entry_t *entry; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
608 |
int retval = 0; |
2421 | 609 |
|
1921 | 610 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, " |
611 |
"pdo_index = 0x%04X, entry_index = 0x%04X, " |
|
612 |
"entry_subindex = 0x%02X, entry_bit_length = %u)\n", |
|
613 |
__func__, sc, pdo_index, entry_index, entry_subindex, |
|
614 |
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
|
615 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
616 |
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
|
617 |
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
|
618 |
&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
|
619 |
break; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
620 |
|
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
|
621 |
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
|
622 |
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
|
623 |
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
|
624 |
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
|
625 |
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
|
626 |
if (IS_ERR(entry)) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
627 |
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
|
628 |
} else { |
1921 | 629 |
EC_CONFIG_ERR(sc, "PDO 0x%04X is not assigned.\n", pdo_index); |
2421 | 630 |
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
|
631 |
} |
94c6e36e0f8d
Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents:
1059
diff
changeset
|
632 |
|
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
|
633 |
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
|
634 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
635 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
636 |
/*****************************************************************************/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
637 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
638 |
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
|
639 |
uint16_t pdo_index) |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
640 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
641 |
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
|
642 |
ec_pdo_t *pdo = NULL; |
2421 | 643 |
|
1921 | 644 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, pdo_index = 0x%04X)\n", |
645 |
__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
|
646 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
647 |
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
|
648 |
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
|
649 |
&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
|
650 |
break; |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
651 |
|
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
|
652 |
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
|
653 |
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
|
654 |
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
|
655 |
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
|
656 |
} else { |
1921 | 657 |
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
|
658 |
} |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
659 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
660 |
|
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
661 |
/*****************************************************************************/ |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
662 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
663 |
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
|
664 |
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
|
665 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
666 |
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
|
667 |
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
|
668 |
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
|
669 |
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
|
670 |
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
|
671 |
|
1921 | 672 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, n_syncs = %u, syncs = 0x%p)\n", |
673 |
__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
|
674 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
675 |
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
|
676 |
return 0; |
4c16fe64b403
Return out of ecrt_slave_config_pdos() when pdo_infos == NULL
Richard Hacker <ha@igh-essen.com>
parents:
1025
diff
changeset
|
677 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
678 |
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
|
679 |
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
|
680 |
|
1097 | 681 |
if (sync_info->index == (uint8_t) EC_END) |
878 | 682 |
break; |
683 |
||
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
684 |
if (sync_info->index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 685 |
EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", |
686 |
sync_info->index); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
687 |
return -ENOENT; |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
688 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
689 |
|
1509
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
690 |
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
|
691 |
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
|
692 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
693 |
return ret; |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
694 |
|
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 |
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
|
696 |
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
|
697 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
698 |
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
|
699 |
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
|
700 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
701 |
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
|
702 |
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
|
703 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
704 |
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
|
705 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
706 |
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
|
707 |
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
|
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 |
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
|
710 |
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
|
711 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
712 |
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
|
713 |
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
|
714 |
entry_info->subindex, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
715 |
entry_info->bit_length); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
716 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
717 |
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
|
718 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
719 |
} |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
720 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
721 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
722 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
723 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
724 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
725 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
726 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
727 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
728 |
|
807
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
729 |
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
|
730 |
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
|
731 |
uint16_t index, |
a6b51990e7e6
Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents:
916
diff
changeset
|
732 |
uint8_t subindex, |
a6b51990e7e6
Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents:
916
diff
changeset
|
733 |
ec_domain_t *domain, |
925
939f3e9bba1e
Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents:
924
diff
changeset
|
734 |
unsigned int *bit_position |
916
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
735 |
) |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
736 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
737 |
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
|
738 |
const ec_sync_config_t *sync_config; |
925
939f3e9bba1e
Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents:
924
diff
changeset
|
739 |
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
|
740 |
ec_pdo_t *pdo; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
741 |
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
|
742 |
int sync_offset; |
807
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
743 |
|
1921 | 744 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
745 |
"subindex = 0x%02X, domain = 0x%p, bit_position = 0x%p)\n", |
|
746 |
__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
|
747 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
748 |
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
|
749 |
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
|
750 |
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
|
751 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
752 |
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
|
753 |
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
|
754 |
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
|
755 |
bit_offset += entry->bit_length; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
756 |
} 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
|
757 |
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
|
758 |
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
|
759 |
*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
|
760 |
} else if (bit_pos) { |
1921 | 761 |
EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does" |
762 |
" 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
|
763 |
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
|
764 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
765 |
|
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
|
766 |
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
|
767 |
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
|
768 |
if (sync_offset < 0) |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
769 |
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
|
770 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
771 |
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
|
772 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
773 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
774 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
775 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
776 |
|
1921 | 777 |
EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X is not mapped.\n", |
778 |
index, subindex); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
779 |
return -ENOENT; |
924
d8d9a1056afa
Fixed missing right brace
Richard Hacker <ha@igh-essen.com>
parents:
923
diff
changeset
|
780 |
} |
923
a6b51990e7e6
Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents:
916
diff
changeset
|
781 |
|
1392
8fcc1d0987c1
DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
782 |
/*****************************************************************************/ |
8fcc1d0987c1
DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
783 |
|
1448
d7ba0c408a07
Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents:
1438
diff
changeset
|
784 |
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate, |
2449
5db725cc40f9
Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
785 |
uint32_t sync0_cycle_time, int32_t sync0_shift_time, |
5db725cc40f9
Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
786 |
uint32_t sync1_cycle_time, int32_t sync1_shift_time) |
1438
1d30b96bb04f
Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents:
1412
diff
changeset
|
787 |
{ |
1933
d11036537092
Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents:
1931
diff
changeset
|
788 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X," |
2449
5db725cc40f9
Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
789 |
" sync0_cycle = %u, sync0_shift = %i," |
5db725cc40f9
Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
790 |
" sync1_cycle = %u, sync1_shift = %i\n", |
1933
d11036537092
Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents:
1931
diff
changeset
|
791 |
__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
|
792 |
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
|
793 |
|
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
794 |
sc->dc_assign_activate = assign_activate; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
795 |
sc->dc_sync[0].cycle_time = sync0_cycle_time; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
796 |
sc->dc_sync[0].shift_time = sync0_shift_time; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
797 |
sc->dc_sync[1].cycle_time = sync1_cycle_time; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
798 |
sc->dc_sync[1].shift_time = sync1_shift_time; |
1412 | 799 |
} |
800 |
||
801 |
/*****************************************************************************/ |
|
802 |
||
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
803 |
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
|
804 |
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
|
805 |
{ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
806 |
ec_slave_t *slave = sc->slave; |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
807 |
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
|
808 |
int ret; |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
809 |
|
1921 | 810 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
811 |
"subindex = 0x%02X, data = 0x%p, size = %zu)\n", |
|
812 |
__func__, sc, index, subindex, data, size); |
|
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
813 |
|
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
814 |
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
1921 | 815 |
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
|
816 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
817 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
818 |
if (!(req = (ec_sdo_request_t *) |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
819 |
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) { |
1921 | 820 |
EC_CONFIG_ERR(sc, "Failed to allocate memory for" |
821 |
" SDO configuration!\n"); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
822 |
return -ENOMEM; |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
823 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
824 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
825 |
ec_sdo_request_init(req); |
2434
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2421
diff
changeset
|
826 |
ecrt_sdo_request_index(req, index, subindex); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
827 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
828 |
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
|
829 |
if (ret < 0) { |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
830 |
ec_sdo_request_clear(req); |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
831 |
kfree(req); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
832 |
return ret; |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
833 |
} |
2421 | 834 |
|
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
|
835 |
down(&sc->master->master_sem); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
836 |
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
|
837 |
up(&sc->master->master_sem); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
838 |
return 0; |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
839 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
840 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
841 |
/*****************************************************************************/ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
842 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
843 |
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
|
844 |
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
|
845 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
846 |
uint8_t data[1]; |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
847 |
|
1921 | 848 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
849 |
"subindex = 0x%02X, value = %u)\n", |
|
1931 | 850 |
__func__, sc, index, subindex, (unsigned int) value); |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
851 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
852 |
EC_WRITE_U8(data, value); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
853 |
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
|
854 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
855 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
856 |
/*****************************************************************************/ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
857 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
858 |
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
|
859 |
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
|
860 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
861 |
uint8_t data[2]; |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
862 |
|
1921 | 863 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
864 |
"subindex = 0x%02X, value = %u)\n", |
|
865 |
__func__, sc, index, subindex, value); |
|
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
866 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
867 |
EC_WRITE_U16(data, value); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
868 |
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
|
869 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
870 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
871 |
/*****************************************************************************/ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
872 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
873 |
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
|
874 |
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
|
875 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
876 |
uint8_t data[4]; |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
877 |
|
1921 | 878 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
879 |
"subindex = 0x%02X, value = %u)\n", |
|
880 |
__func__, sc, index, subindex, value); |
|
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
881 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
882 |
EC_WRITE_U32(data, value); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
883 |
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
|
884 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
885 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
886 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
887 |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
888 |
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
|
889 |
const uint8_t *data, size_t size) |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
890 |
{ |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
891 |
ec_slave_t *slave = sc->slave; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
892 |
ec_sdo_request_t *req; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
893 |
int ret; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
894 |
|
1921 | 895 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
896 |
"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
|
897 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
898 |
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
1921 | 899 |
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
|
900 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
901 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
902 |
if (!(req = (ec_sdo_request_t *) |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
903 |
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) { |
1921 | 904 |
EC_CONFIG_ERR(sc, "Failed to allocate memory for" |
905 |
" SDO configuration!\n"); |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
906 |
return -ENOMEM; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
907 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
908 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
909 |
ec_sdo_request_init(req); |
2434
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2421
diff
changeset
|
910 |
ecrt_sdo_request_index(req, index, 0); |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
911 |
req->complete_access = 1; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
912 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
913 |
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
|
914 |
if (ret < 0) { |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
915 |
ec_sdo_request_clear(req); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
916 |
kfree(req); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
917 |
return ret; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
918 |
} |
2421 | 919 |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
920 |
down(&sc->master->master_sem); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
921 |
list_add_tail(&req->list, &sc->sdo_configs); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
922 |
up(&sc->master->master_sem); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
923 |
return 0; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
924 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
925 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
926 |
/*****************************************************************************/ |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
927 |
|
2438
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
928 |
int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
929 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
930 |
return ec_coe_emerg_ring_size(&sc->emerg_ring, elements); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
931 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
932 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
933 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
934 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
935 |
int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
936 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
937 |
return ec_coe_emerg_ring_pop(&sc->emerg_ring, target); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
938 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
939 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
940 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
941 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
942 |
int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
943 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
944 |
return ec_coe_emerg_ring_clear_ring(&sc->emerg_ring); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
945 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
946 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
947 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
948 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
949 |
int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
950 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
951 |
return ec_coe_emerg_ring_overruns(&sc->emerg_ring); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
952 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
953 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
954 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
955 |
|
1332
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
956 |
/** 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
|
957 |
* value. |
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
958 |
*/ |
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
959 |
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
|
960 |
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
|
961 |
{ |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
962 |
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
|
963 |
int ret; |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
964 |
|
1921 | 965 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, " |
966 |
"index = 0x%04X, subindex = 0x%02X, size = %zu)\n", |
|
967 |
__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
|
968 |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
969 |
if (!(req = (ec_sdo_request_t *) |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
970 |
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) { |
1921 | 971 |
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
|
972 |
return ERR_PTR(-ENOMEM); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
973 |
} |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
974 |
|
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
975 |
ec_sdo_request_init(req); |
2434
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2421
diff
changeset
|
976 |
ecrt_sdo_request_index(req, index, subindex); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
977 |
|
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
978 |
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
|
979 |
if (ret < 0) { |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
980 |
ec_sdo_request_clear(req); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
981 |
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
|
982 |
return ERR_PTR(ret); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
983 |
} |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
984 |
|
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
985 |
// 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
|
986 |
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
|
987 |
req->data_size = size; |
2421 | 988 |
|
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
|
989 |
down(&sc->master->master_sem); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
990 |
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
|
991 |
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
|
992 |
|
2421 | 993 |
return req; |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
994 |
} |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
995 |
|
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
996 |
/*****************************************************************************/ |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
997 |
|
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
998 |
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
|
999 |
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
|
1000 |
{ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1001 |
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
|
1002 |
subindex, size); |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1003 |
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
|
1004 |
} |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1005 |
|
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1006 |
/*****************************************************************************/ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1007 |
|
2443
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1008 |
/** Same as ecrt_slave_config_create_reg_request(), but with ERR_PTR() return |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1009 |
* value. |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1010 |
*/ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1011 |
ec_reg_request_t *ecrt_slave_config_create_reg_request_err( |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1012 |
ec_slave_config_t *sc, size_t size) |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1013 |
{ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1014 |
ec_reg_request_t *reg; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1015 |
int ret; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1016 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1017 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n", |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1018 |
__func__, sc, size); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1019 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1020 |
if (!(reg = (ec_reg_request_t *) |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1021 |
kmalloc(sizeof(ec_reg_request_t), GFP_KERNEL))) { |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1022 |
EC_CONFIG_ERR(sc, "Failed to allocate register request memory!\n"); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1023 |
return ERR_PTR(-ENOMEM); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1024 |
} |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1025 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1026 |
ret = ec_reg_request_init(reg, size); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1027 |
if (ret) { |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1028 |
kfree(reg); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1029 |
return ERR_PTR(ret); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1030 |
} |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1031 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1032 |
down(&sc->master->master_sem); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1033 |
list_add_tail(®->list, &sc->reg_requests); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1034 |
up(&sc->master->master_sem); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1035 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1036 |
return reg; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1037 |
} |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1038 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1039 |
/*****************************************************************************/ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1040 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1041 |
ec_reg_request_t *ecrt_slave_config_create_reg_request( |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1042 |
ec_slave_config_t *sc, size_t size) |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1043 |
{ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1044 |
ec_reg_request_t *reg = |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1045 |
ecrt_slave_config_create_reg_request_err(sc, size); |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1046 |
return IS_ERR(reg) ? NULL : reg; |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1047 |
} |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1048 |
|
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1049 |
/*****************************************************************************/ |
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1050 |
|
1332
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
1051 |
/** 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
|
1052 |
* value. |
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
1053 |
*/ |
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1054 |
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
|
1055 |
ec_slave_config_t *sc, size_t size) |
1209 | 1056 |
{ |
1057 |
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
|
1058 |
int ret; |
1209 | 1059 |
|
1921 | 1060 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n", __func__, sc, size); |
1209 | 1061 |
|
1062 |
if (!(voe = (ec_voe_handler_t *) |
|
1063 |
kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) { |
|
1921 | 1064 |
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
|
1065 |
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
|
1066 |
} |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1067 |
|
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1068 |
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
|
1069 |
if (ret < 0) { |
1209 | 1070 |
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
|
1071 |
return ERR_PTR(ret); |
1209 | 1072 |
} |
1073 |
||
1074 |
down(&sc->master->master_sem); |
|
1075 |
list_add_tail(&voe->list, &sc->voe_handlers); |
|
1076 |
up(&sc->master->master_sem); |
|
1077 |
||
2421 | 1078 |
return voe; |
1209 | 1079 |
} |
1080 |
||
1081 |
/*****************************************************************************/ |
|
1082 |
||
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1083 |
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
|
1084 |
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
|
1085 |
{ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1086 |
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
|
1087 |
size); |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1088 |
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
|
1089 |
} |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1090 |
|
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1091 |
/*****************************************************************************/ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
1092 |
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1093 |
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
|
1094 |
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
|
1095 |
{ |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1096 |
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
|
1097 |
if (state->online) { |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1098 |
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
|
1099 |
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
|
1100 |
&& !sc->slave->force_config; |
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1101 |
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
|
1102 |
} else { |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1103 |
state->operational = 0; |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1104 |
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
|
1105 |
} |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1106 |
} |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1107 |
|
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1108 |
/*****************************************************************************/ |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1109 |
|
2421 | 1110 |
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no, |
1952
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1944
diff
changeset
|
1111 |
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
|
1112 |
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
|
1113 |
{ |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1114 |
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
|
1115 |
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
|
1116 |
int ret; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1117 |
|
1952
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1944
diff
changeset
|
1118 |
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
|
1119 |
"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
|
1120 |
__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
|
1121 |
|
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1944
diff
changeset
|
1122 |
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
|
1123 |
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
|
1124 |
(unsigned int) drive_no); |
1952
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1944
diff
changeset
|
1125 |
return -EINVAL; |
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1944
diff
changeset
|
1126 |
} |
1944
73896ef6d077
Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents:
1933
diff
changeset
|
1127 |
|
73896ef6d077
Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents:
1933
diff
changeset
|
1128 |
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
|
1129 |
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
|
1130 |
" 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
|
1131 |
return -EINVAL; |
73896ef6d077
Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents:
1933
diff
changeset
|
1132 |
} |
1844
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1133 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1134 |
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) { |
1921 | 1135 |
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
|
1136 |
} |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1137 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1138 |
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
|
1139 |
kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) { |
1921 | 1140 |
EC_CONFIG_ERR(sc, "Failed to allocate memory for" |
1141 |
" 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
|
1142 |
return -ENOMEM; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1143 |
} |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1144 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1145 |
ec_soe_request_init(req); |
1952
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1944
diff
changeset
|
1146 |
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
|
1147 |
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
|
1148 |
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
|
1149 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1150 |
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
|
1151 |
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
|
1152 |
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
|
1153 |
kfree(req); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1154 |
return ret; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1155 |
} |
2421 | 1156 |
|
1844
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1157 |
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
|
1158 |
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
|
1159 |
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
|
1160 |
return 0; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1161 |
} |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1162 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1163 |
/*****************************************************************************/ |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
1164 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1165 |
/** \cond */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1166 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
1167 |
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
|
1168 |
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
|
1169 |
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
|
1170 |
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
|
1171 |
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
|
1172 |
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
|
1173 |
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
|
1174 |
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
|
1175 |
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
|
1176 |
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
|
1177 |
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
|
1178 |
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
|
1179 |
EXPORT_SYMBOL(ecrt_slave_config_sdo32); |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
1180 |
EXPORT_SYMBOL(ecrt_slave_config_complete_sdo); |
2438
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
1181 |
EXPORT_SYMBOL(ecrt_slave_config_emerg_size); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
1182 |
EXPORT_SYMBOL(ecrt_slave_config_emerg_pop); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
1183 |
EXPORT_SYMBOL(ecrt_slave_config_emerg_clear); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
1184 |
EXPORT_SYMBOL(ecrt_slave_config_emerg_overruns); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
1185 |
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request); |
1215 | 1186 |
EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler); |
2443
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2438
diff
changeset
|
1187 |
EXPORT_SYMBOL(ecrt_slave_config_create_reg_request); |
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
1188 |
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
|
1189 |
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
|
1190 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1191 |
/** \endcond */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1192 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1193 |
/*****************************************************************************/ |