etherlabmaster: comparison master/slave

equal deleted inserted replaced

-:af21f0bdc7c9
+:2b9c78543663
 /******************************************************************************
 *
 *  $Id$
 *
-*  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+*  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 sc->position = position;
 sc->vendor_id = vendor_id;
 sc->product_code = product_code;
 sc->watchdog_divider = 0; // use default
 sc->watchdog_intervals = 0; // use default
-sc->allow_overlapping_pdos = 0; // default not allowed
 sc->slave = NULL;
 for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
 ec_sync_config_init(&sc->sync_configs[i]);
 sc->used_fmmus = 0;
 sc->dc_assign_activate = 0x0000;
-sc->dc_sync[0].cycle_time = 0x00000000;
+sc->dc_sync[0].cycle_time = 0U;
-sc->dc_sync[1].cycle_time = 0x00000000;
+sc->dc_sync[1].cycle_time = 0;
-sc->dc_sync[0].shift_time = 0x00000000;
+sc->dc_sync[0].shift_time = 0U;
-sc->dc_sync[1].shift_time = 0x00000000;
+sc->dc_sync[1].shift_time = 0;
 INIT_LIST_HEAD(&sc->sdo_configs);
 INIT_LIST_HEAD(&sc->sdo_requests);
+INIT_LIST_HEAD(&sc->reg_requests);
 INIT_LIST_HEAD(&sc->voe_handlers);
 INIT_LIST_HEAD(&sc->soe_configs);
+ec_coe_emerg_ring_init(&sc->emerg_ring, sc);
 }
 /*****************************************************************************/
 /** Slave configuration destructor.
 )
 {
 unsigned int i;
 ec_sdo_request_t *req, *next_req;
 ec_voe_handler_t *voe, *next_voe;
+ec_reg_request_t *reg, *next_reg;
 ec_soe_request_t *soe, *next_soe;
 ec_slave_config_detach(sc);
 // Free sync managers
 list_del(&req->list);
 ec_sdo_request_clear(req);
 kfree(req);
 }
+// free all register requests
+list_for_each_entry_safe(reg, next_reg, &sc->reg_requests, list) {
+list_del(&reg->list);
+ec_reg_request_clear(reg);
+kfree(reg);
+}
 // free all VoE handlers
 list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {
 list_del(&voe->list);
 ec_voe_handler_clear(voe);
 kfree(voe);
 list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {
 list_del(&soe->list);
 ec_soe_request_clear(soe);
 kfree(soe);
 }
+ec_coe_emerg_ring_clear(&sc->emerg_ring);
 }
 /*****************************************************************************/
 /** Prepares an FMMU configuration.
 uint8_t sync_index, /**< Sync manager index. */
 ec_direction_t dir /**< PDO direction. */
 )
 {
 unsigned int i;
-ec_fmmu_config_t *fmmu, *prev_fmmu;
+ec_fmmu_config_t *fmmu;
-uint32_t fmmu_logical_start_address;
-size_t tx_size, old_prev_tx_size;
 // FMMU configuration already prepared?
 for (i = 0; i < sc->used_fmmus; i++) {
 fmmu = &sc->fmmu_configs[i];
 if (fmmu->domain == domain && fmmu->sync_index == sync_index)
-return fmmu->domain_address;
+return fmmu->logical_start_address;
 }
 if (sc->used_fmmus == EC_MAX_FMMUS) {
 EC_CONFIG_ERR(sc, "FMMU limit reached!\n");
 return -EOVERFLOW;
 }
-fmmu = &sc->fmmu_configs[sc->used_fmmus];
+fmmu = &sc->fmmu_configs[sc->used_fmmus++];
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
-ec_fmmu_config_init(fmmu, sc, sync_index, dir);
+ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
-fmmu_logical_start_address = domain->tx_size;
+up(&sc->master->master_sem);
-tx_size = fmmu->data_size;
+return fmmu->logical_start_address;
-// FIXME is it enough to take only the *previous* FMMU into account?
-if (sc->allow_overlapping_pdos && sc->used_fmmus > 0) {
-prev_fmmu = &sc->fmmu_configs[sc->used_fmmus - 1];
-if (fmmu->dir != prev_fmmu->dir && prev_fmmu->tx_size != 0) {
-// prev fmmu has opposite direction
-// and is not already paired with prev-prev fmmu
-old_prev_tx_size = prev_fmmu->tx_size;
-prev_fmmu->tx_size = max(fmmu->data_size, prev_fmmu->data_size);
-domain->tx_size += prev_fmmu->tx_size - old_prev_tx_size;
-tx_size = 0;
-fmmu_logical_start_address = prev_fmmu->logical_start_address;
-}
-}
-ec_fmmu_config_domain(fmmu, domain, fmmu_logical_start_address, tx_size);
-ec_mutex_unlock(&sc->master->master_mutex);
-sc->used_fmmus++;
-return fmmu->domain_address;
 }
 /*****************************************************************************/
 /** Attaches the configuration to the addressed slave object.
 // attach slave
 slave->config = sc;
 sc->slave = slave;
 EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);
 return 0;
 }
 /*****************************************************************************/
 void ec_slave_config_detach(
 ec_slave_config_t *sc /**< Slave configuration. */
 )
 {
 if (sc->slave) {
+ec_reg_request_t *reg;
 sc->slave->config = NULL;
+// invalidate processing register request
+list_for_each_entry(reg, &sc->reg_requests, list) {
+if (sc->slave->fsm.reg_request == reg) {
+sc->slave->fsm.reg_request = NULL;
+break;
+}
+}
 sc->slave = NULL;
 }
 }
 /*****************************************************************************/
 ec_sync_config_t *sync_config;
 const ec_sync_t *sync;
 if (!sc->slave)
 return;
 for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
 sync_config = &sc->sync_configs[sync_index];
 if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {
 sync_config->dir = ec_sync_default_direction(sync);
 if (sync_config->dir == EC_DIR_INVALID)
 /*****************************************************************************/
 /** Finds an SDO configuration via its position in the list.
 *
 * Const version.
+*
+* \return Search result, or NULL.
 */
 const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
 const ec_slave_config_t *sc, /**< Slave configuration. */
 unsigned int pos /**< Position in the list. */
 )
 /*****************************************************************************/
 /** Finds an IDN configuration via its position in the list.
 *
 * Const version.
+*
+* \return Search result, or NULL.
 */
 const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
 const ec_slave_config_t *sc, /**< Slave configuration. */
 unsigned int pos /**< Position in the list. */
 )
 return NULL;
 }
 /*****************************************************************************/
-/** Finds a VoE handler via its position in the list.
+/** Finds a CoE handler via its position in the list.
+*
+* \return Search result, or NULL.
 */
 ec_sdo_request_t *ec_slave_config_find_sdo_request(
 ec_slave_config_t *sc, /**< Slave configuration. */
 unsigned int pos /**< Position in the list. */
 )
 return NULL;
 }
 /*****************************************************************************/
+/** Finds a register handler via its position in the list.
+*
+* \return Search result, or NULL.
+*/
+ec_reg_request_t *ec_slave_config_find_reg_request(
+ec_slave_config_t *sc, /**< Slave configuration. */
+unsigned int pos /**< Position in the list. */
+)
+{
+ec_reg_request_t *reg;
+list_for_each_entry(reg, &sc->reg_requests, list) {
+if (pos--)
+continue;
+return reg;
+}
+return NULL;
+}
+/*****************************************************************************/
 /** Finds a VoE handler via its position in the list.
+*
+* \return Search result, or NULL.
 */
 ec_voe_handler_t *ec_slave_config_find_voe_handler(
 ec_slave_config_t *sc, /**< Slave configuration. */
 unsigned int pos /**< Position in the list. */
 )
 int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
 ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
 {
 ec_sync_config_t *sync_config;
 EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p,"
 " sync_index = %u, dir = %i, watchdog_mode = %i)\n",
 sc, sync_index, dir, watchdog_mode);
 if (sync_index >= EC_MAX_SYNC_MANAGERS) {
 sc->watchdog_intervals = intervals;
 }
 /*****************************************************************************/
-void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,
-uint8_t allow_overlapping_pdos )
-{
-if (sc->master->debug_level)
-EC_DBG("%s(sc = 0x%p, allow_overlapping_pdos = %u)\n",
-__func__, sc, allow_overlapping_pdos);
-sc->allow_overlapping_pdos = allow_overlapping_pdos;
-}
-/*****************************************************************************/
 int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
 uint8_t sync_index, uint16_t pdo_index)
 {
 ec_pdo_t *pdo;
 if (sync_index >= EC_MAX_SYNC_MANAGERS) {
 EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
 return -EINVAL;
 }
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);
 if (IS_ERR(pdo)) {
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 return PTR_ERR(pdo);
 }
 pdo->sync_index = sync_index;
 ec_slave_config_load_default_mapping(sc, pdo);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 return 0;
 }
 /*****************************************************************************/
 if (sync_index >= EC_MAX_SYNC_MANAGERS) {
 EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
 return;
 }
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 }
 /*****************************************************************************/
 int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
 {
 uint8_t sync_index;
 ec_pdo_t *pdo = NULL;
 ec_pdo_entry_t *entry;
 int retval = 0;
 EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
 "pdo_index = 0x%04X, entry_index = 0x%04X, "
 "entry_subindex = 0x%02X, entry_bit_length = %u)\n",
 __func__, sc, pdo_index, entry_index, entry_subindex,
 entry_bit_length);
 if ((pdo = ec_pdo_list_find_pdo(
 &sc->sync_configs[sync_index].pdos, pdo_index)))
 break;
 if (pdo) {
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 entry = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
 entry_bit_length);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 if (IS_ERR(entry))
 retval = PTR_ERR(entry);
 } else {
 EC_CONFIG_ERR(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
 retval = -ENOENT;
 }
 return retval;
 }
 void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
 uint16_t pdo_index)
 {
 uint8_t sync_index;
 ec_pdo_t *pdo = NULL;
 EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, pdo_index = 0x%04X)\n",
 __func__, sc, pdo_index);
 for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
 if ((pdo = ec_pdo_list_find_pdo(
 &sc->sync_configs[sync_index].pdos, pdo_index)))
 break;
 if (pdo) {
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 ec_pdo_clear_entries(pdo);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 } else {
 EC_CONFIG_WARN(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
 }
 }
 const ec_sync_config_t *sync_config;
 unsigned int bit_offset, bit_pos;
 ec_pdo_t *pdo;
 ec_pdo_entry_t *entry;
 int sync_offset;
+EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
+"subindex = 0x%02X, domain = 0x%p, bit_position = 0x%p)\n",
+__func__, sc, index, subindex, domain, bit_position);
 for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
 sync_config = &sc->sync_configs[sync_index];
 bit_offset = 0;
 sync_offset = ec_slave_config_prepare_fmmu(
 sc, domain, sync_index, sync_config->dir);
 if (sync_offset < 0)
 return sync_offset;
-EC_CONFIG_DBG(sc, 1, "%s(index = 0x%04X, "
+return sync_offset + bit_offset / 8;
-"subindex = 0x%02X, domain = %u, bytepos=%u, bitpos=%u)\n",
-__func__,index, subindex,
-domain->index, sync_offset + bit_offset / 8, bit_pos);
-					return sync_offset + bit_offset / 8;
 }
 }
 }
 }
 return -ENOENT;
 }
 /*****************************************************************************/
+int ecrt_slave_config_reg_pdo_entry_pos(
+ec_slave_config_t *sc,
+uint8_t sync_index,
+unsigned int pdo_pos,
+unsigned int entry_pos,
+ec_domain_t *domain,
+unsigned int *bit_position
+)
+{
+const ec_sync_config_t *sync_config;
+unsigned int bit_offset, pp, ep;
+ec_pdo_t *pdo;
+ec_pdo_entry_t *entry;
+EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, pdo_pos = %u,"
+" entry_pos = %u, domain = 0x%p, bit_position = 0x%p)\n",
+__func__, sc, sync_index, pdo_pos, entry_pos,
+domain, bit_position);
+if (sync_index >= EC_MAX_SYNC_MANAGERS) {
+EC_CONFIG_ERR(sc, "Invalid syncmanager position %u.\n", sync_index);
+return -EINVAL;
+}
+sync_config = &sc->sync_configs[sync_index];
+bit_offset = 0;
+pp = 0;
+list_for_each_entry(pdo, &sync_config->pdos.list, list) {
+ep = 0;
+list_for_each_entry(entry, &pdo->entries, list) {
+if (pp != pdo_pos || ep != entry_pos) {
+bit_offset += entry->bit_length;
+} else {
+unsigned int bit_pos = bit_offset % 8;
+int sync_offset;
+if (bit_position) {
+*bit_position = bit_pos;
+} else if (bit_pos) {
+EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does"
+" not byte-align.\n",
+pdo->index, entry->subindex);
+return -EFAULT;
+}
+sync_offset = ec_slave_config_prepare_fmmu(
+sc, domain, sync_index, sync_config->dir);
+if (sync_offset < 0)
+return sync_offset;
+return sync_offset + bit_offset / 8;
+}
+ep++;
+}
+pp++;
+}
+EC_CONFIG_ERR(sc, "PDO entry specification %u/%u/%u out of range.\n",
+sync_index, pdo_pos, entry_pos);
+return -ENOENT;
+}
+/*****************************************************************************/
 void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
-uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
+uint32_t sync0_cycle_time, int32_t sync0_shift_time,
-uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
+uint32_t sync1_cycle_time, int32_t sync1_shift_time)
 {
 EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X,"
-" sync0_cycle = %u, sync0_shift = %u,"
+" sync0_cycle = %u, sync0_shift = %i,"
-" sync1_cycle = %u, sync1_shift = %u\n",
+" sync1_cycle = %u, sync1_shift = %i\n",
 __func__, sc, assign_activate, sync0_cycle_time, sync0_shift_time,
 sync1_cycle_time, sync1_shift_time);
 sc->dc_assign_activate = assign_activate;
 sc->dc_sync[0].cycle_time = sync0_cycle_time;
 " SDO configuration!\n");
 return -ENOMEM;
 }
 ec_sdo_request_init(req);
-ec_sdo_request_address(req, index, subindex);
+ecrt_sdo_request_index(req, index, subindex);
 ret = ec_sdo_request_copy_data(req, data, size);
 if (ret < 0) {
 ec_sdo_request_clear(req);
 kfree(req);
 return ret;
 }
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 list_add_tail(&req->list, &sc->sdo_configs);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 return 0;
 }
 /*****************************************************************************/
 " SDO configuration!\n");
 return -ENOMEM;
 }
 ec_sdo_request_init(req);
-ec_sdo_request_address(req, index, 0);
+ecrt_sdo_request_index(req, index, 0);
 req->complete_access = 1;
 ret = ec_sdo_request_copy_data(req, data, size);
 if (ret < 0) {
 ec_sdo_request_clear(req);
 kfree(req);
 return ret;
 }
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 list_add_tail(&req->list, &sc->sdo_configs);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 return 0;
+}
+/*****************************************************************************/
+int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
+{
+return ec_coe_emerg_ring_size(&sc->emerg_ring, elements);
+}
+/*****************************************************************************/
+int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target)
+{
+return ec_coe_emerg_ring_pop(&sc->emerg_ring, target);
+}
+/*****************************************************************************/
+int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
+{
+return ec_coe_emerg_ring_clear_ring(&sc->emerg_ring);
+}
+/*****************************************************************************/
+int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
+{
+return ec_coe_emerg_ring_overruns(&sc->emerg_ring);
 }
 /*****************************************************************************/
 /** Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return
 EC_CONFIG_ERR(sc, "Failed to allocate SDO request memory!\n");
 return ERR_PTR(-ENOMEM);
 }
 ec_sdo_request_init(req);
-ec_sdo_request_address(req, index, subindex);
+ecrt_sdo_request_index(req, index, subindex);
 ret = ec_sdo_request_alloc(req, size);
 if (ret < 0) {
 ec_sdo_request_clear(req);
 kfree(req);
 }
 // prepare data for optional writing
 memset(req->data, 0x00, size);
 req->data_size = size;
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 list_add_tail(&req->list, &sc->sdo_requests);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 return req;
 }
 /*****************************************************************************/
 ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
 ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
 {
 ec_sdo_request_t *s = ecrt_slave_config_create_sdo_request_err(sc, index,
 subindex, size);
 return IS_ERR(s) ? NULL : s;
+}
+/*****************************************************************************/
+/** Same as ecrt_slave_config_create_reg_request(), but with ERR_PTR() return
+* value.
+*/
+ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
+ec_slave_config_t *sc, size_t size)
+{
+ec_reg_request_t *reg;
+int ret;
+EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n",
+__func__, sc, size);
+if (!(reg = (ec_reg_request_t *)
+kmalloc(sizeof(ec_reg_request_t), GFP_KERNEL))) {
+EC_CONFIG_ERR(sc, "Failed to allocate register request memory!\n");
+return ERR_PTR(-ENOMEM);
+}
+ret = ec_reg_request_init(reg, size);
+if (ret) {
+kfree(reg);
+return ERR_PTR(ret);
+}
+down(&sc->master->master_sem);
+list_add_tail(&reg->list, &sc->reg_requests);
+up(&sc->master->master_sem);
+return reg;
+}
+/*****************************************************************************/
+ec_reg_request_t *ecrt_slave_config_create_reg_request(
+ec_slave_config_t *sc, size_t size)
+{
+ec_reg_request_t *reg =
+ecrt_slave_config_create_reg_request_err(sc, size);
+return IS_ERR(reg) ? NULL : reg;
 }
 /*****************************************************************************/
 /** Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return
 if (ret < 0) {
 kfree(voe);
 return ERR_PTR(ret);
 }
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 list_add_tail(&voe->list, &sc->voe_handlers);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 return voe;
 }
 /*****************************************************************************/
 ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
 }
 }
 /*****************************************************************************/
 int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
 uint16_t idn, ec_al_state_t state, const uint8_t *data,
 size_t size)
 {
 ec_slave_t *slave = sc->slave;
 ec_soe_request_t *req;
 if (ret < 0) {
 ec_soe_request_clear(req);
 kfree(req);
 return ret;
 }
-ec_mutex_lock(&sc->master->master_mutex);
+down(&sc->master->master_sem);
 list_add_tail(&req->list, &sc->soe_configs);
-ec_mutex_unlock(&sc->master->master_mutex);
+up(&sc->master->master_sem);
 return 0;
 }
 /*****************************************************************************/
 /** \cond */
 EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
 EXPORT_SYMBOL(ecrt_slave_config_watchdog);
-EXPORT_SYMBOL(ecrt_slave_config_overlapping_pdos);
 EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
 EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
 EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);
 EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_clear);
 EXPORT_SYMBOL(ecrt_slave_config_pdos);
 EXPORT_SYMBOL(ecrt_slave_config_sdo);
 EXPORT_SYMBOL(ecrt_slave_config_sdo8);
 EXPORT_SYMBOL(ecrt_slave_config_sdo16);
 EXPORT_SYMBOL(ecrt_slave_config_sdo32);
 EXPORT_SYMBOL(ecrt_slave_config_complete_sdo);
+EXPORT_SYMBOL(ecrt_slave_config_emerg_size);
+EXPORT_SYMBOL(ecrt_slave_config_emerg_pop);
+EXPORT_SYMBOL(ecrt_slave_config_emerg_clear);
+EXPORT_SYMBOL(ecrt_slave_config_emerg_overruns);
 EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
 EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler);
+EXPORT_SYMBOL(ecrt_slave_config_create_reg_request);
 EXPORT_SYMBOL(ecrt_slave_config_state);
 EXPORT_SYMBOL(ecrt_slave_config_idn);
 /** \endcond */

changeset 2589	2b9c78543663
parent 2411	01370d59233d
child 2609	777d1a8b3a27
child 2634	f859d567f94e