etherlabmaster: master/sync.c@d304ef4af542 (annotated)

628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT sync manager methods.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "slave.h"
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "master.h"
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	44	#include "pdo.h"
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "sync.h"
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	/**
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	* Constructor.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	*/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	52
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	void ec_sync_init(
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	ec_sync_t sync, /< EtherCAT sync manager /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	55	ec_slave_t slave, /< EtherCAT slave /
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	unsigned int index /*< sync manager index /
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	)
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	{
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	sync->slave = slave;
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	sync->index = index;
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	61
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	sync->est_length = 0;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	63	INIT_LIST_HEAD(&sync->pdos);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	64	sync->alt_mapping = 0;
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	}
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	66
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	/**
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	* Destructor.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	*/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	72
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	void ec_sync_clear(
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	ec_sync_t sync /< EtherCAT sync manager /
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	)
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	{
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	77	ec_sync_clear_pdos(sync);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	78	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	79
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	80	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	81
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	82	/**
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	83	* Calculates the size of a sync manager by evaluating PDO sizes.
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	84	* \return sync manager size
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	85	*/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	86
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	87	uint16_t ec_sync_size(
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	88	const ec_sync_t sync /< sync manager /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	89	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	90	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	91	const ec_pdo_t *pdo;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	92	const ec_pdo_entry_t *pdo_entry;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	93	unsigned int bit_size, byte_size;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	94
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	95	if (sync->length) return sync->length;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	96	if (sync->est_length) return sync->est_length;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	97
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	98	bit_size = 0;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	99	list_for_each_entry(pdo, &sync->pdos, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	100	list_for_each_entry(pdo_entry, &pdo->entries, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	101	bit_size += pdo_entry->bit_length;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	102	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	103	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	104
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	105	if (bit_size % 8) // round up to full bytes
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	106	byte_size = bit_size / 8 + 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	107	else
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	108	byte_size = bit_size / 8;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	109
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	110	return byte_size;
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	}
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	/**
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	Initializes a sync manager configuration page with EEPROM data.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	*/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	119
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	void ec_sync_config(
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	const ec_sync_t sync, /< sync manager /
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	uint8_t data /> configuration memory /
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	)
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	{
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	125	size_t sync_size = ec_sync_size(sync);
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	126
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	if (sync->slave->master->debug_level) {
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	sync->index, sync->physical_start_address,
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	sync_size, sync->control_register, sync->enable);
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	}
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	EC_WRITE_U16(data, sync->physical_start_address);
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	EC_WRITE_U16(data + 2, sync_size);
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	EC_WRITE_U8 (data + 4, sync->control_register);
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	}
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	139
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	/*****************************************************************************/
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	141
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	142	/**
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	143	*/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	144
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	145	int ec_sync_add_pdo(
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	146	ec_sync_t sync, /< EtherCAT sync manager /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	147	const ec_pdo_t pdo /< PDO to map /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	148	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	149	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	150	ec_pdo_t *mapped_pdo;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	151
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	152	// PDO already mapped?
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	153	list_for_each_entry(mapped_pdo, &sync->pdos, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	154	if (mapped_pdo->index != pdo->index) continue;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	155	EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	156	return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	157	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	158
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	159	if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	160	EC_ERR("Failed to allocate memory for PDO mapping.\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	161	return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	162	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	163
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	164	ec_pdo_init(mapped_pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	165	if (ec_pdo_copy(mapped_pdo, pdo)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	166	ec_pdo_clear(mapped_pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	167	kfree(mapped_pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	168	return -1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	169	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	170
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	171	// set appropriate sync manager index
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	172	mapped_pdo->sync_index = sync->index;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	173
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	174	list_add_tail(&mapped_pdo->list, &sync->pdos);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	175	sync->alt_mapping = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	176	return 0;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	177	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	178
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	179	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	180
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	181	/**
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	182	*/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	183
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	184	void ec_sync_clear_pdos(
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	185	ec_sync_t sync /< EtherCAT sync manager /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	186	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	187	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	188	ec_pdo_t pdo, next;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	189
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	190	// free all mapped PDOs
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	191	list_for_each_entry_safe(pdo, next, &sync->pdos, list) {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	192	list_del(&pdo->list);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	193	ec_pdo_clear(pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	194	kfree(pdo);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	195	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	196
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	197	sync->alt_mapping = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	198	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	199
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	200	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 07 Mar 2007 17:37:21 +0000
changeset 635	d304ef4af542
parent 628	e94a16bc52ce
child 745	3f4e5a50733e
permissions	-rw-r--r--