author | Florian Pose <fp@igh-essen.com> |
Tue, 01 Jun 2010 22:51:51 +0200 | |
changeset 1935 | 8ea1033bd4c2 |
parent 1933 | d11036537092 |
child 1944 | 73896ef6d077 |
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) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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* vim: expandtab |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave configuration methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/slab.h> |
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#include "globals.h" |
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#include "master.h" |
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#include "voe_handler.h" |
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#include "slave_config.h" |
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/*****************************************************************************/ |
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/** Slave configuration constructor. |
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* |
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* See ecrt_master_slave_config() for the usage of the \a alias and \a |
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* position parameters. |
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*/ |
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void ec_slave_config_init( |
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ec_slave_config_t *sc, /**< Slave configuration. */ |
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ec_master_t *master, /**< EtherCAT master. */ |
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uint16_t alias, /**< Slave alias. */ |
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uint16_t position, /**< Slave position. */ |
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uint32_t vendor_id, /**< Expected vendor ID. */ |
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uint32_t product_code /**< Expected product code. */ |
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) |
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{ |
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unsigned int i; |
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sc->master = master; |
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sc->alias = alias; |
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sc->position = position; |
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sc->vendor_id = vendor_id; |
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sc->product_code = product_code; |
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sc->watchdog_divider = 0; // use default |
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sc->watchdog_intervals = 0; // use default |
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sc->slave = NULL; |
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for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) |
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ec_sync_config_init(&sc->sync_configs[i]); |
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sc->used_fmmus = 0; |
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sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0; |
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sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0; |
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sc->dc_assign_activate = 0x0000; |
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sc->dc_sync[0].cycle_time = 0x00000000; |
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sc->dc_sync[1].cycle_time = 0x00000000; |
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sc->dc_sync[0].shift_time = 0x00000000; |
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sc->dc_sync[1].shift_time = 0x00000000; |
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INIT_LIST_HEAD(&sc->sdo_configs); |
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INIT_LIST_HEAD(&sc->sdo_requests); |
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INIT_LIST_HEAD(&sc->voe_handlers); |
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INIT_LIST_HEAD(&sc->soe_configs); |
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} |
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/*****************************************************************************/ |
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/** Slave configuration destructor. |
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* |
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* Clears and frees a slave configuration object. |
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*/ |
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void ec_slave_config_clear( |
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ec_slave_config_t *sc /**< Slave configuration. */ |
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) |
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{ |
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unsigned int i; |
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ec_sdo_request_t *req, *next_req; |
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ec_voe_handler_t *voe, *next_voe; |
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ec_soe_request_t *soe, *next_soe; |
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ec_slave_config_detach(sc); |
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// Free sync managers |
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for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) |
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|
113 |
ec_sync_config_clear(&sc->sync_configs[i]); |
792
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|
114 |
|
1327
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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
115 |
// free all SDO configurations |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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diff
changeset
|
116 |
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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|
117 |
list_del(&req->list); |
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Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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|
118 |
ec_sdo_request_clear(req); |
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|
119 |
kfree(req); |
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|
120 |
} |
792
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|
121 |
|
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|
122 |
// free all SDO requests |
858
69122084d066
Basic reading realtime Sdo access working.
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diff
changeset
|
123 |
list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) { |
69122084d066
Basic reading realtime Sdo access working.
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|
124 |
list_del(&req->list); |
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Basic reading realtime Sdo access working.
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|
125 |
ec_sdo_request_clear(req); |
69122084d066
Basic reading realtime Sdo access working.
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diff
changeset
|
126 |
kfree(req); |
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Basic reading realtime Sdo access working.
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diff
changeset
|
127 |
} |
1209 | 128 |
|
129 |
// free all VoE handlers |
|
130 |
list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) { |
|
131 |
list_del(&voe->list); |
|
132 |
ec_voe_handler_clear(voe); |
|
133 |
kfree(voe); |
|
134 |
} |
|
1844
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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diff
changeset
|
135 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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|
136 |
// free all SoE configurations |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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diff
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|
137 |
list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) { |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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diff
changeset
|
138 |
list_del(&soe->list); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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diff
changeset
|
139 |
ec_soe_request_clear(soe); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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diff
changeset
|
140 |
kfree(soe); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
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diff
changeset
|
141 |
} |
792
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|
142 |
} |
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changeset
|
143 |
|
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|
144 |
/*****************************************************************************/ |
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changeset
|
145 |
|
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|
146 |
/** Prepares an FMMU configuration. |
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|
147 |
* |
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|
148 |
* Configuration data for the FMMU is saved in the slave config structure and |
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|
149 |
* is written to the slave during the configuration. The FMMU configuration |
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|
150 |
* is done in a way, that the complete data range of the corresponding sync |
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changeset
|
151 |
* manager is covered. Seperate FMMUs are configured for each domain. If the |
916
db73994fbdac
Added bitwise Pdo registration.
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|
152 |
* FMMU configuration is already prepared, the function does nothing and |
db73994fbdac
Added bitwise Pdo registration.
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|
153 |
* returns with success. |
db73994fbdac
Added bitwise Pdo registration.
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|
154 |
* |
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Added bitwise Pdo registration.
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changeset
|
155 |
* \retval >=0 Success, logical offset byte address. |
1313
ed15eef57d5c
Improved error case return codes of many functions.
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diff
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|
156 |
* \retval <0 Error code. |
792
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|
157 |
*/ |
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changeset
|
158 |
int ec_slave_config_prepare_fmmu( |
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|
159 |
ec_slave_config_t *sc, /**< Slave configuration. */ |
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|
160 |
ec_domain_t *domain, /**< Domain. */ |
1055
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|
161 |
uint8_t sync_index, /**< Sync manager index. */ |
1327
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|
162 |
ec_direction_t dir /**< PDO direction. */ |
792
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diff
changeset
|
163 |
) |
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changeset
|
164 |
{ |
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changeset
|
165 |
unsigned int i; |
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changeset
|
166 |
ec_fmmu_config_t *fmmu; |
3778920f61e4
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parents:
diff
changeset
|
167 |
|
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parents:
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changeset
|
168 |
// FMMU configuration already prepared? |
3778920f61e4
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parents:
diff
changeset
|
169 |
for (i = 0; i < sc->used_fmmus; i++) { |
3778920f61e4
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parents:
diff
changeset
|
170 |
fmmu = &sc->fmmu_configs[i]; |
1055
2be8918682fa
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parents:
1054
diff
changeset
|
171 |
if (fmmu->domain == domain && fmmu->sync_index == sync_index) |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
172 |
return fmmu->logical_start_address; |
3778920f61e4
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parents:
diff
changeset
|
173 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
174 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
if (sc->used_fmmus == EC_MAX_FMMUS) { |
1921 | 176 |
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
|
177 |
return -EOVERFLOW; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
178 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
179 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
180 |
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
|
181 |
|
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
|
182 |
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
|
183 |
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
|
184 |
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
|
185 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
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
|
187 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
/*****************************************************************************/ |
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 |
/** Attaches the configuration to the addressed slave object. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
192 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
193 |
* \retval 0 Success. |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
194 |
* \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
|
195 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
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
|
197 |
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
|
198 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
{ |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
200 |
ec_slave_t *slave; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
201 |
|
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
202 |
if (sc->slave) |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
203 |
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
|
204 |
|
927
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
205 |
if (!(slave = ec_master_find_slave( |
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
206 |
sc->master, sc->alias, sc->position))) { |
1921 | 207 |
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
|
208 |
return -ENOENT; |
927
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
209 |
} |
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
210 |
|
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
211 |
if (slave->config) { |
1921 | 212 |
EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u" |
213 |
" 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
|
214 |
return -EEXIST; |
1025
ae175095f09a
Output attachment failure messages only when debugging.
Florian Pose <fp@igh-essen.com>
parents:
1022
diff
changeset
|
215 |
} |
1145
133cf4631fcc
Force reconfiguration after attachment.
Florian Pose <fp@igh-essen.com>
parents:
1115
diff
changeset
|
216 |
|
1025
ae175095f09a
Output attachment failure messages only when debugging.
Florian Pose <fp@igh-essen.com>
parents:
1022
diff
changeset
|
217 |
if (slave->sii.vendor_id != sc->vendor_id |
ae175095f09a
Output attachment failure messages only when debugging.
Florian Pose <fp@igh-essen.com>
parents:
1022
diff
changeset
|
218 |
|| slave->sii.product_code != sc->product_code) { |
1921 | 219 |
EC_CONFIG_DBG(sc, 1, "Slave %u has an invalid type (0x%08X/0x%08X)" |
220 |
" for configuration (0x%08X/0x%08X).\n", |
|
221 |
slave->ring_position, slave->sii.vendor_id, |
|
222 |
slave->sii.product_code, sc->vendor_id, sc->product_code); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
223 |
return -EINVAL; |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
224 |
} |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
225 |
|
68e89abadd19
Removed unwanted tabulators.
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parents:
1448
diff
changeset
|
226 |
// attach slave |
68e89abadd19
Removed unwanted tabulators.
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parents:
1448
diff
changeset
|
227 |
slave->config = sc; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
228 |
sc->slave = slave; |
1145
133cf4631fcc
Force reconfiguration after attachment.
Florian Pose <fp@igh-essen.com>
parents:
1115
diff
changeset
|
229 |
|
1025
ae175095f09a
Output attachment failure messages only when debugging.
Florian Pose <fp@igh-essen.com>
parents:
1022
diff
changeset
|
230 |
ec_slave_request_state(slave, EC_SLAVE_STATE_OP); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
|
1921 | 232 |
EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position); |
929 | 233 |
|
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
234 |
return 0; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
237 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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|
239 |
/** Detaches the configuration from a slave object. |
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240 |
*/ |
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|
241 |
void ec_slave_config_detach( |
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242 |
ec_slave_config_t *sc /**< Slave configuration. */ |
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|
243 |
) |
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|
244 |
{ |
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245 |
if (sc->slave) { |
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246 |
sc->slave->config = NULL; |
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247 |
sc->slave = NULL; |
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|
248 |
} |
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249 |
} |
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250 |
|
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|
251 |
/*****************************************************************************/ |
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|
252 |
|
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253 |
/** Loads the default PDO assignment from the slave object. |
879
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|
254 |
*/ |
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|
255 |
void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc) |
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256 |
{ |
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|
257 |
uint8_t sync_index; |
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|
258 |
ec_sync_config_t *sync_config; |
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|
259 |
const ec_sync_t *sync; |
792
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260 |
|
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|
261 |
if (!sc->slave) |
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|
262 |
return; |
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|
263 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
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|
264 |
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) { |
1055
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265 |
sync_config = &sc->sync_configs[sync_index]; |
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|
266 |
if ((sync = ec_slave_get_sync(sc->slave, sync_index))) { |
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|
267 |
sync_config->dir = ec_sync_default_direction(sync); |
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|
268 |
if (sync_config->dir == EC_DIR_INVALID) |
1921 | 269 |
EC_SLAVE_WARN(sc->slave, |
270 |
"SM%u has an invalid direction field!\n", sync_index); |
|
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271 |
ec_pdo_list_copy(&sync_config->pdos, &sync->pdos); |
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|
272 |
} |
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|
273 |
} |
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|
274 |
} |
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|
275 |
|
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|
276 |
/*****************************************************************************/ |
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|
277 |
|
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|
278 |
/** Loads the default mapping for a PDO from the slave object. |
879
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|
279 |
*/ |
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|
280 |
void ec_slave_config_load_default_mapping( |
842
40e27e5a8dce
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|
281 |
const ec_slave_config_t *sc, |
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|
282 |
ec_pdo_t *pdo |
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|
283 |
) |
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|
284 |
{ |
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|
285 |
unsigned int i; |
842
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|
286 |
const ec_sync_t *sync; |
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|
287 |
const ec_pdo_t *default_pdo; |
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|
288 |
|
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|
289 |
if (!sc->slave) |
842
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Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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|
290 |
return; |
1055
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|
291 |
|
1921 | 292 |
EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n", |
293 |
pdo->index); |
|
1055
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|
294 |
|
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|
295 |
// find PDO in any sync manager (it could be reassigned later) |
1055
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|
296 |
for (i = 0; i < sc->slave->sii.sync_count; i++) { |
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|
297 |
sync = &sc->slave->sii.syncs[i]; |
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|
298 |
|
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|
299 |
list_for_each_entry(default_pdo, &sync->pdos.list, list) { |
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Store sync manager configurations in ec_slave_config_t instead of Pdo
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|
300 |
if (default_pdo->index != pdo->index) |
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|
301 |
continue; |
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Store sync manager configurations in ec_slave_config_t instead of Pdo
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changeset
|
302 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff
changeset
|
303 |
if (default_pdo->name) { |
1921 | 304 |
EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n", |
305 |
default_pdo->name); |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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changeset
|
306 |
|
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff
changeset
|
307 |
// take PDO name from assigned one |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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1054
diff
changeset
|
308 |
ec_pdo_set_name(pdo, default_pdo->name); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff
changeset
|
309 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff
changeset
|
310 |
|
1327
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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff
changeset
|
311 |
// copy entries (= default PDO mapping) |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff
changeset
|
312 |
if (ec_pdo_copy_entries(pdo, default_pdo)) |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff
changeset
|
313 |
return; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
314 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
315 |
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:
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diff
changeset
|
316 |
const ec_pdo_entry_t *entry; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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parents:
1054
diff
changeset
|
317 |
list_for_each_entry(entry, &pdo->entries, list) { |
1921 | 318 |
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
|
319 |
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
|
320 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
321 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
322 |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
323 |
return; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
324 |
} |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
} |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
326 |
|
1921 | 327 |
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
|
328 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
330 |
/*****************************************************************************/ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
331 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
332 |
/** 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
|
333 |
* |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
334 |
* \return Number of SDO configurations. |
1092 | 335 |
*/ |
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
941
diff
changeset
|
336 |
unsigned int ec_slave_config_sdo_count( |
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
941
diff
changeset
|
337 |
const ec_slave_config_t *sc /**< Slave configuration. */ |
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
941
diff
changeset
|
338 |
) |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
339 |
{ |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
340 |
const ec_sdo_request_t *req; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
341 |
unsigned int count = 0; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
342 |
|
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
343 |
list_for_each_entry(req, &sc->sdo_configs, list) { |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
344 |
count++; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
345 |
} |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
346 |
|
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
347 |
return count; |
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
348 |
} |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
349 |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
350 |
/*****************************************************************************/ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
351 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
352 |
/** 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
|
353 |
* |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
354 |
* Const version. |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
355 |
*/ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
356 |
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
|
357 |
const ec_slave_config_t *sc, /**< Slave configuration. */ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
358 |
unsigned int pos /**< Position in the list. */ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
359 |
) |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
360 |
{ |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
361 |
const ec_sdo_request_t *req; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
362 |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
363 |
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
|
364 |
if (pos--) |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
365 |
continue; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
366 |
return req; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
367 |
} |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
368 |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
369 |
return NULL; |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
370 |
} |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
941
diff
changeset
|
371 |
|
1263
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
372 |
/*****************************************************************************/ |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
373 |
|
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
374 |
/** Finds a VoE handler via its position in the list. |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
375 |
*/ |
1351
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
376 |
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
|
377 |
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
|
378 |
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
|
379 |
) |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
380 |
{ |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
381 |
ec_sdo_request_t *req; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
382 |
|
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
383 |
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
|
384 |
if (pos--) |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
385 |
continue; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
386 |
return req; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
387 |
} |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
388 |
|
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
389 |
return NULL; |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
390 |
} |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
391 |
|
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
392 |
/*****************************************************************************/ |
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
393 |
|
cf8f08631c8e
Added ec_slave_config_find_sdo_request().
Florian Pose <fp@igh-essen.com>
parents:
1332
diff
changeset
|
394 |
/** 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
|
395 |
*/ |
1263
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
396 |
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
|
397 |
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
|
398 |
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
|
399 |
) |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
400 |
{ |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
401 |
ec_voe_handler_t *voe; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
402 |
|
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
403 |
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
|
404 |
if (pos--) |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
405 |
continue; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
406 |
return voe; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
407 |
} |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
408 |
|
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
409 |
return NULL; |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
410 |
} |
f44720defbc5
Added ec_slave_config_find_voe_handler().
Florian Pose <fp@igh-essen.com>
parents:
1215
diff
changeset
|
411 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
/****************************************************************************** |
1392
8fcc1d0987c1
DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
413 |
* Application interface |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
416 |
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
|
417 |
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
|
418 |
{ |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
419 |
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
|
420 |
|
1921 | 421 |
EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p," |
422 |
" sync_index = %u, dir = %i, watchdog_mode = %i)\n", |
|
423 |
sc, sync_index, dir, watchdog_mode); |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
424 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
425 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 426 |
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
|
427 |
return -ENOENT; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
428 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
429 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
430 |
if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) { |
1931 | 431 |
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
|
432 |
return -EINVAL; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
433 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
434 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
435 |
sync_config = &sc->sync_configs[sync_index]; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
436 |
sync_config->dir = dir; |
1509
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
437 |
sync_config->watchdog_mode = watchdog_mode; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
438 |
return 0; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
439 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
440 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
441 |
/*****************************************************************************/ |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
442 |
|
1509
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
443 |
void ecrt_slave_config_watchdog(ec_slave_config_t *sc, |
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
444 |
uint16_t divider, uint16_t intervals) |
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
445 |
{ |
1921 | 446 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, divider = %u, intervals = %u)\n", |
447 |
__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
|
448 |
|
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
449 |
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
|
450 |
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
|
451 |
} |
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
452 |
|
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
453 |
/*****************************************************************************/ |
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
454 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
455 |
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
|
456 |
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
|
457 |
{ |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
458 |
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
|
459 |
|
1921 | 460 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, " |
461 |
"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
|
462 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
463 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 464 |
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
|
465 |
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
|
466 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
467 |
|
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
|
468 |
down(&sc->master->master_sem); |
94c6e36e0f8d
Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents:
1059
diff
changeset
|
469 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
470 |
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
|
471 |
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
|
472 |
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
|
473 |
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
|
474 |
} |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
475 |
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
|
476 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
477 |
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
|
478 |
|
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
|
479 |
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
|
480 |
return 0; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
481 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
482 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
483 |
/*****************************************************************************/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
484 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
485 |
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
|
486 |
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
|
487 |
{ |
1921 | 488 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u)\n", |
489 |
__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
|
490 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
491 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 492 |
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
|
493 |
return; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
494 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
495 |
|
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
|
496 |
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
|
497 |
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
|
498 |
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
|
499 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
500 |
|
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
501 |
/*****************************************************************************/ |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
502 |
|
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
503 |
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
|
504 |
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
|
505 |
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
|
506 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
507 |
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
|
508 |
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
|
509 |
ec_pdo_entry_t *entry; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
510 |
int retval = 0; |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
511 |
|
1921 | 512 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, " |
513 |
"pdo_index = 0x%04X, entry_index = 0x%04X, " |
|
514 |
"entry_subindex = 0x%02X, entry_bit_length = %u)\n", |
|
515 |
__func__, sc, pdo_index, entry_index, entry_subindex, |
|
516 |
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
|
517 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
518 |
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
|
519 |
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
|
520 |
&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
|
521 |
break; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
522 |
|
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
|
523 |
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
|
524 |
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
|
525 |
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
|
526 |
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
|
527 |
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
|
528 |
if (IS_ERR(entry)) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
529 |
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
|
530 |
} else { |
1921 | 531 |
EC_CONFIG_ERR(sc, "PDO 0x%04X is not assigned.\n", pdo_index); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
532 |
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
|
533 |
} |
94c6e36e0f8d
Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents:
1059
diff
changeset
|
534 |
|
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
|
535 |
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
|
536 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
537 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
538 |
/*****************************************************************************/ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
539 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
540 |
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
|
541 |
uint16_t pdo_index) |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
542 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
543 |
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
|
544 |
ec_pdo_t *pdo = NULL; |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
545 |
|
1921 | 546 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, pdo_index = 0x%04X)\n", |
547 |
__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
|
548 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
549 |
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
|
550 |
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
|
551 |
&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
|
552 |
break; |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
553 |
|
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
|
554 |
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
|
555 |
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
|
556 |
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
|
557 |
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
|
558 |
} else { |
1921 | 559 |
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
|
560 |
} |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
561 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
562 |
|
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
563 |
/*****************************************************************************/ |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
564 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
565 |
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
|
566 |
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
|
567 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
568 |
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
|
569 |
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
|
570 |
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
|
571 |
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
|
572 |
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
|
573 |
|
1921 | 574 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, n_syncs = %u, syncs = 0x%p)\n", |
575 |
__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
|
576 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
577 |
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
|
578 |
return 0; |
4c16fe64b403
Return out of ecrt_slave_config_pdos() when pdo_infos == NULL
Richard Hacker <ha@igh-essen.com>
parents:
1025
diff
changeset
|
579 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
580 |
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
|
581 |
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
|
582 |
|
1097 | 583 |
if (sync_info->index == (uint8_t) EC_END) |
878 | 584 |
break; |
585 |
||
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
586 |
if (sync_info->index >= EC_MAX_SYNC_MANAGERS) { |
1921 | 587 |
EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", |
588 |
sync_info->index); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
589 |
return -ENOENT; |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
590 |
} |
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
591 |
|
1509
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
592 |
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
|
593 |
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
|
594 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
595 |
return ret; |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
878
diff
changeset
|
596 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
597 |
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
|
598 |
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
|
599 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
600 |
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
|
601 |
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
|
602 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
603 |
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
|
604 |
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
|
605 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
606 |
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
|
607 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
608 |
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
|
609 |
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
|
610 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
611 |
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
|
612 |
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
|
613 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
614 |
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
|
615 |
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
|
616 |
entry_info->subindex, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
617 |
entry_info->bit_length); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
618 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
619 |
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
|
620 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
621 |
} |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
622 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
623 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
624 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
625 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
626 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
627 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
628 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
629 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
630 |
|
807
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
631 |
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
|
632 |
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
|
633 |
uint16_t index, |
a6b51990e7e6
Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents:
916
diff
changeset
|
634 |
uint8_t subindex, |
a6b51990e7e6
Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents:
916
diff
changeset
|
635 |
ec_domain_t *domain, |
925
939f3e9bba1e
Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents:
924
diff
changeset
|
636 |
unsigned int *bit_position |
916
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
637 |
) |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
893
diff
changeset
|
638 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
639 |
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
|
640 |
const ec_sync_config_t *sync_config; |
925
939f3e9bba1e
Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents:
924
diff
changeset
|
641 |
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
|
642 |
ec_pdo_t *pdo; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
643 |
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
|
644 |
int sync_offset; |
807
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
645 |
|
1921 | 646 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
647 |
"subindex = 0x%02X, domain = 0x%p, bit_position = 0x%p)\n", |
|
648 |
__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
|
649 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
650 |
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
|
651 |
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
|
652 |
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
|
653 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
654 |
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
|
655 |
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
|
656 |
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
|
657 |
bit_offset += entry->bit_length; |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
658 |
} 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
|
659 |
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
|
660 |
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
|
661 |
*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
|
662 |
} else if (bit_pos) { |
1921 | 663 |
EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does" |
664 |
" 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
|
665 |
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
|
666 |
} |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
667 |
|
1075
94c6e36e0f8d
Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents:
1059
diff
changeset
|
668 |
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
|
669 |
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
|
670 |
if (sync_offset < 0) |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
671 |
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
|
672 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
673 |
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
|
674 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
675 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
676 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
677 |
} |
f8bca95ab75d
Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents:
797
diff
changeset
|
678 |
|
1921 | 679 |
EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X is not mapped.\n", |
680 |
index, subindex); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
681 |
return -ENOENT; |
924
d8d9a1056afa
Fixed missing right brace
Richard Hacker <ha@igh-essen.com>
parents:
923
diff
changeset
|
682 |
} |
923
a6b51990e7e6
Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents:
916
diff
changeset
|
683 |
|
1392
8fcc1d0987c1
DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
684 |
/*****************************************************************************/ |
8fcc1d0987c1
DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
685 |
|
1448
d7ba0c408a07
Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents:
1438
diff
changeset
|
686 |
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate, |
1438
1d30b96bb04f
Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents:
1412
diff
changeset
|
687 |
uint32_t sync0_cycle_time, uint32_t sync0_shift_time, |
1d30b96bb04f
Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents:
1412
diff
changeset
|
688 |
uint32_t sync1_cycle_time, uint32_t sync1_shift_time) |
1d30b96bb04f
Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents:
1412
diff
changeset
|
689 |
{ |
1933
d11036537092
Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents:
1931
diff
changeset
|
690 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X," |
d11036537092
Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents:
1931
diff
changeset
|
691 |
" sync0_cycle = %u, sync0_shift = %u," |
d11036537092
Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents:
1931
diff
changeset
|
692 |
" sync1_cycle = %u, sync1_shift = %u\n", |
d11036537092
Added debug output for ecrt_slave_config_dc().
Florian Pose <fp@igh-essen.com>
parents:
1931
diff
changeset
|
693 |
__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
|
694 |
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
|
695 |
|
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
696 |
sc->dc_assign_activate = assign_activate; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
697 |
sc->dc_sync[0].cycle_time = sync0_cycle_time; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
698 |
sc->dc_sync[0].shift_time = sync0_shift_time; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
699 |
sc->dc_sync[1].cycle_time = sync1_cycle_time; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
700 |
sc->dc_sync[1].shift_time = sync1_shift_time; |
1412 | 701 |
} |
702 |
||
703 |
/*****************************************************************************/ |
|
704 |
||
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
705 |
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
|
706 |
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
|
707 |
{ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
708 |
ec_slave_t *slave = sc->slave; |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
709 |
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
|
710 |
int ret; |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
711 |
|
1921 | 712 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
713 |
"subindex = 0x%02X, data = 0x%p, size = %zu)\n", |
|
714 |
__func__, sc, index, subindex, data, size); |
|
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
715 |
|
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
716 |
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
1921 | 717 |
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
|
718 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
719 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
720 |
if (!(req = (ec_sdo_request_t *) |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
721 |
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) { |
1921 | 722 |
EC_CONFIG_ERR(sc, "Failed to allocate memory for" |
723 |
" SDO configuration!\n"); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
724 |
return -ENOMEM; |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
725 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
726 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
727 |
ec_sdo_request_init(req); |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
728 |
ec_sdo_request_address(req, index, subindex); |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
729 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
730 |
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
|
731 |
if (ret < 0) { |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
732 |
ec_sdo_request_clear(req); |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
733 |
kfree(req); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
734 |
return ret; |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
735 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
736 |
|
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
|
737 |
down(&sc->master->master_sem); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
738 |
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
|
739 |
up(&sc->master->master_sem); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
740 |
return 0; |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
741 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
742 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
743 |
/*****************************************************************************/ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
744 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
745 |
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
|
746 |
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
|
747 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
748 |
uint8_t data[1]; |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
749 |
|
1921 | 750 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
751 |
"subindex = 0x%02X, value = %u)\n", |
|
1931 | 752 |
__func__, sc, index, subindex, (unsigned int) value); |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
753 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
754 |
EC_WRITE_U8(data, value); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
755 |
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
|
756 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
757 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
758 |
/*****************************************************************************/ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
759 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
760 |
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
|
761 |
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
|
762 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
763 |
uint8_t data[2]; |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
764 |
|
1921 | 765 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
766 |
"subindex = 0x%02X, value = %u)\n", |
|
767 |
__func__, sc, index, subindex, value); |
|
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
768 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
769 |
EC_WRITE_U16(data, value); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
770 |
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
|
771 |
} |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
772 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
773 |
/*****************************************************************************/ |
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
774 |
|
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
775 |
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
|
776 |
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
|
777 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
778 |
uint8_t data[4]; |
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
779 |
|
1921 | 780 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
781 |
"subindex = 0x%02X, value = %u)\n", |
|
782 |
__func__, sc, index, subindex, value); |
|
1115
b7b965ab94cd
Sdo configuration debugging.
Florian Pose <fp@igh-essen.com>
parents:
1097
diff
changeset
|
783 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
784 |
EC_WRITE_U32(data, value); |
893
d921fff3d6e2
Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
785 |
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
|
786 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
787 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
788 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
789 |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
790 |
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
|
791 |
const uint8_t *data, size_t size) |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
792 |
{ |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
793 |
ec_slave_t *slave = sc->slave; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
794 |
ec_sdo_request_t *req; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
795 |
int ret; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
796 |
|
1921 | 797 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, " |
798 |
"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
|
799 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
800 |
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
1921 | 801 |
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
|
802 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
803 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
804 |
if (!(req = (ec_sdo_request_t *) |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
805 |
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) { |
1921 | 806 |
EC_CONFIG_ERR(sc, "Failed to allocate memory for" |
807 |
" SDO configuration!\n"); |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
808 |
return -ENOMEM; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
809 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
810 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
811 |
ec_sdo_request_init(req); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
812 |
ec_sdo_request_address(req, index, 0); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
813 |
req->complete_access = 1; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
814 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
815 |
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
|
816 |
if (ret < 0) { |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
817 |
ec_sdo_request_clear(req); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
818 |
kfree(req); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
819 |
return ret; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
820 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
821 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
822 |
down(&sc->master->master_sem); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
823 |
list_add_tail(&req->list, &sc->sdo_configs); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
824 |
up(&sc->master->master_sem); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
825 |
return 0; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
826 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
827 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
828 |
/*****************************************************************************/ |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
829 |
|
1332
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
830 |
/** 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
|
831 |
* value. |
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
832 |
*/ |
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
833 |
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
|
834 |
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
|
835 |
{ |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
836 |
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
|
837 |
int ret; |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
838 |
|
1921 | 839 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, " |
840 |
"index = 0x%04X, subindex = 0x%02X, size = %zu)\n", |
|
841 |
__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
|
842 |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
843 |
if (!(req = (ec_sdo_request_t *) |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
844 |
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) { |
1921 | 845 |
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
|
846 |
return ERR_PTR(-ENOMEM); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
847 |
} |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
848 |
|
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
849 |
ec_sdo_request_init(req); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
850 |
ec_sdo_request_address(req, index, subindex); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
851 |
|
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
852 |
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
|
853 |
if (ret < 0) { |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
854 |
ec_sdo_request_clear(req); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
855 |
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
|
856 |
return ERR_PTR(ret); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
857 |
} |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
858 |
|
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
859 |
// 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
|
860 |
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
|
861 |
req->data_size = size; |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
862 |
|
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
|
863 |
down(&sc->master->master_sem); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
864 |
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
|
865 |
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
|
866 |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
867 |
return req; |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
868 |
} |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
869 |
|
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
870 |
/*****************************************************************************/ |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
871 |
|
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
872 |
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
|
873 |
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
|
874 |
{ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
875 |
ec_sdo_request_t *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
|
876 |
subindex, size); |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
877 |
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
|
878 |
} |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
879 |
|
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
880 |
/*****************************************************************************/ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
881 |
|
1332
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
882 |
/** 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
|
883 |
* value. |
d62633fea8ed
merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
884 |
*/ |
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
885 |
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
|
886 |
ec_slave_config_t *sc, size_t size) |
1209 | 887 |
{ |
888 |
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
|
889 |
int ret; |
1209 | 890 |
|
1921 | 891 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n", __func__, sc, size); |
1209 | 892 |
|
893 |
if (!(voe = (ec_voe_handler_t *) |
|
894 |
kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) { |
|
1921 | 895 |
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
|
896 |
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
|
897 |
} |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
898 |
|
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
899 |
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
|
900 |
if (ret < 0) { |
1209 | 901 |
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
|
902 |
return ERR_PTR(ret); |
1209 | 903 |
} |
904 |
||
905 |
down(&sc->master->master_sem); |
|
906 |
list_add_tail(&voe->list, &sc->voe_handlers); |
|
907 |
up(&sc->master->master_sem); |
|
908 |
||
909 |
return voe; |
|
910 |
} |
|
911 |
||
912 |
/*****************************************************************************/ |
|
913 |
||
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
914 |
ec_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
|
915 |
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
|
916 |
{ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
917 |
ec_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
|
918 |
size); |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
919 |
return IS_ERR(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
|
920 |
} |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
921 |
|
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
922 |
/*****************************************************************************/ |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1277
diff
changeset
|
923 |
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
924 |
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
|
925 |
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
|
926 |
{ |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
927 |
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
|
928 |
if (state->online) { |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
929 |
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
|
930 |
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
|
931 |
&& !sc->slave->force_config; |
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
932 |
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
|
933 |
} else { |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
934 |
state->operational = 0; |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
935 |
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
|
936 |
} |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
937 |
} |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
938 |
|
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
939 |
/*****************************************************************************/ |
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
940 |
|
1844
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
941 |
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn, |
1873
219be3742274
Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents:
1844
diff
changeset
|
942 |
const uint8_t *data, 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
|
943 |
{ |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
944 |
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
|
945 |
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
|
946 |
int ret; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
947 |
|
1921 | 948 |
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, " |
949 |
"data = 0x%p, size = %zu)\n", __func__, sc, idn, data, size); |
|
1844
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
950 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
951 |
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) { |
1921 | 952 |
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
|
953 |
} |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
954 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
955 |
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
|
956 |
kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) { |
1921 | 957 |
EC_CONFIG_ERR(sc, "Failed to allocate memory for" |
958 |
" 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
|
959 |
return -ENOMEM; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
960 |
} |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
961 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
962 |
ec_soe_request_init(req); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
963 |
ec_soe_request_set_idn(req, idn); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
964 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
965 |
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
|
966 |
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
|
967 |
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
|
968 |
kfree(req); |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
969 |
return ret; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
970 |
} |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
971 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
972 |
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
|
973 |
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
|
974 |
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
|
975 |
return 0; |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
976 |
} |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
977 |
|
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
978 |
/*****************************************************************************/ |
b6bd88d4806b
Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
979 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
980 |
/** \cond */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
981 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1054
diff
changeset
|
982 |
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
|
983 |
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
|
984 |
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
|
985 |
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
|
986 |
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
|
987 |
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
|
988 |
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
|
989 |
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
|
990 |
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
|
991 |
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
|
992 |
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
|
993 |
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
|
994 |
EXPORT_SYMBOL(ecrt_slave_config_sdo32); |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
995 |
EXPORT_SYMBOL(ecrt_slave_config_complete_sdo); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
996 |
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request); |
1215 | 997 |
EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler); |
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
1010
diff
changeset
|
998 |
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
|
999 |
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
|
1000 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1001 |
/** \endcond */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1002 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1003 |
/*****************************************************************************/ |