etherlabmaster: comparison master/slave

equal deleted inserted replaced

-:40c379697ebf
+:9b395c5646ab
 sc->vendor_id = vendor_id;
 sc->product_code = product_code;
 sc->slave = NULL;
 for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
-ec_pdo_mapping_init(&sc->mapping[dir]);
+ec_pdo_list_init(&sc->pdos[dir]);
 INIT_LIST_HEAD(&sc->sdo_configs);
 INIT_LIST_HEAD(&sc->sdo_requests);
 sc->used_fmmus = 0;
 sc = container_of(kobj, ec_slave_config_t, kobj);
 // Free Pdo mappings
 for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
-ec_pdo_mapping_clear(&sc->mapping[dir]);
+ec_pdo_list_clear(&sc->pdos[dir]);
 // free all Sdo configurations
 list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
 list_del(&req->list);
 ec_sdo_request_clear(req);
 char *buffer /**< Output buffer */
 )
 {
 char *buf = buffer;
 ec_direction_t dir;
-const ec_pdo_mapping_t *map;
+const ec_pdo_list_t *pdos;
 const ec_pdo_t *pdo;
 const ec_pdo_entry_t *entry;
 char str[20];
 const ec_sdo_request_t *req;
 buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias);
 buf += sprintf(buf, "Position: %u\n", sc->position);
 for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
-map = &sc->mapping[dir];
+pdos = &sc->pdos[dir];
-if (!list_empty(&map->pdos)) {
+if (!list_empty(&pdos->list)) {
-buf += sprintf(buf, "%s mapping:\n",
+buf += sprintf(buf, "%s Pdo assignment / mapping:\n",
 dir == EC_DIR_OUTPUT ? "Output" : "Input");
-list_for_each_entry(pdo, &map->pdos, list) {
+list_for_each_entry(pdo, &pdos->list, list) {
 buf += sprintf(buf, "  %s 0x%04X \"%s\"\n",
 pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
 pdo->index, pdo->name ? pdo->name : "???");
 list_for_each_entry(entry, &pdo->entries, list) {
 }
 }
 /*****************************************************************************/
-/** Loads the default mapping from the slave object.
+/** Loads the default Pdo assignment from the slave object.
 */
-void ec_slave_config_load_default_mapping(ec_slave_config_t *sc)
+void ec_slave_config_load_default_assignment(ec_slave_config_t *sc)
 {
 ec_direction_t dir;
-ec_pdo_mapping_t *map;
+ec_pdo_list_t *pdos;
 ec_sync_t *sync;
 if (!sc->slave)
 return;
 for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
-map = &sc->mapping[dir];
+pdos = &sc->pdos[dir];
-if (!(sync = ec_slave_get_pdo_sync(sc->slave, dir)))
+if ((sync = ec_slave_get_pdo_sync(sc->slave, dir)))
-continue;
+ec_pdo_list_copy(pdos, &sync->pdos);
-ec_pdo_mapping_copy(map, &sync->mapping);
+}
-map->default_mapping = 1;
+}
-}
-}
+/*****************************************************************************/
-/*****************************************************************************/
+/** Loads the default mapping for a Pdo from the slave object.
+*/
-/** Loads the default configuration for a Pdo from the slave object.
+void ec_slave_config_load_default_mapping(
-*/
-void ec_slave_config_load_default_pdo_config(
 const ec_slave_config_t *sc,
 ec_pdo_t *pdo
 )
 {
 const ec_sync_t *sync;
 EC_WARN("Slave %u does not provide a default Pdo"
 " configuration!\n", sc->slave->ring_position);
 return;
 }
-list_for_each_entry(default_pdo, &sync->mapping.pdos, list) {
+list_for_each_entry(default_pdo, &sync->pdos.list, list) {
 if (default_pdo->index != pdo->index)
 continue;
 if (sc->master->debug_level)
 EC_DBG("  Found Pdo name \"%s\".\n",
 /******************************************************************************
 *  Realtime interface
 *****************************************************************************/
-int ecrt_slave_config_pdo(ec_slave_config_t *sc, ec_direction_t dir,
+int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
-uint16_t index)
+ec_direction_t dir, uint16_t index)
 {
-ec_pdo_mapping_t *pm = &sc->mapping[dir];
+ec_pdo_list_t *pl = &sc->pdos[dir];
 ec_pdo_t *pdo;
-if (pm->default_mapping) {
-if (sc->master->debug_level)
-EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n",
-dir, sc->alias, sc->position);
-pm->default_mapping = 0;
-ec_pdo_mapping_clear_pdos(pm);
-}
 if (sc->master->debug_level)
-EC_DBG("Adding Pdo 0x%04X to mapping for dir %u, config %u:%u.\n",
+EC_DBG("Adding Pdo 0x%04X to assignment for dir %u, config %u:%u.\n",
 index, dir, sc->alias, sc->position);
-if (!(pdo = ec_pdo_mapping_add_pdo(pm, dir, index)))
+if (!(pdo = ec_pdo_list_add_pdo(pl, dir, index)))
 return -1;
-ec_slave_config_load_default_pdo_config(sc, pdo);
+ec_slave_config_load_default_mapping(sc, pdo);
 return 0;
 }
 /*****************************************************************************/
-int ecrt_slave_config_pdo_entry(ec_slave_config_t *sc, uint16_t pdo_index,
+void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
-uint16_t entry_index, uint8_t entry_subindex,
+ec_direction_t dir)
+{
+if (sc->master->debug_level)
+EC_DBG("Clearing Pdo assignment for dir %u, config %u:%u.\n",
+dir, sc->alias, sc->position);
+ec_pdo_list_clear_pdos(&sc->pdos[dir]);
+}
+/*****************************************************************************/
+int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
+uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
 uint8_t entry_bit_length)
 {
 ec_direction_t dir;
 ec_pdo_t *pdo;
 if (sc->master->debug_level)
-EC_DBG("Adding Pdo entry 0x%04X:%u (%u bit) to configuration of Pdo"
+EC_DBG("Adding Pdo entry 0x%04X:%u (%u bit) to mapping of Pdo"
 " 0x%04X, config %u:%u.\n", entry_index, entry_subindex,
 entry_bit_length, pdo_index, sc->alias, sc->position);
 for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
-if ((pdo = ec_pdo_mapping_find_pdo(&sc->mapping[dir], pdo_index)))
+if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))
 break;
 if (!pdo) {
-EC_ERR("Pdo 0x%04X was not found in the mapping of config %u:%u.\n",
+EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",
 pdo_index, sc->alias, sc->position);
 return -1;
 }
-if (pdo->default_config) {
-if (sc->master->debug_level)
-EC_DBG("Clearing default configuration of Pdo 0x%04X,"
-" config %u:%u.\n", pdo->index, sc->alias, sc->position);
-pdo->default_config = 0;
-ec_pdo_clear_entries(pdo);
-}
 return ec_pdo_add_entry(pdo, entry_index, entry_subindex,
 entry_bit_length) ? 0 : -1;
 }
 /*****************************************************************************/
-int ecrt_slave_config_mapping(ec_slave_config_t *sc, unsigned int n_infos,
+void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
+uint16_t pdo_index)
+{
+ec_direction_t dir;
+ec_pdo_t *pdo;
+if (sc->master->debug_level)
+EC_DBG("Clearing mapping of Pdo 0x%04X, config %u:%u.\n",
+pdo_index, sc->alias, sc->position);
+for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
+if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))
+break;
+if (!pdo) {
+EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",
+pdo_index, sc->alias, sc->position);
+return;
+}
+ec_pdo_clear_entries(pdo);
+}
+/*****************************************************************************/
+int ecrt_slave_config_pdos(ec_slave_config_t *sc, unsigned int n_infos,
 const ec_pdo_info_t pdo_infos[])
 {
 unsigned int i, j;
 const ec_pdo_info_t *pi;
-ec_pdo_mapping_t *pm;
+ec_pdo_list_t *pl;
-ec_pdo_t *pdo;
+unsigned int cleared[] = {0, 0};
 const ec_pdo_entry_info_t *ei;
 for (i = 0; i < n_infos; i++) {
 pi = &pdo_infos[i];
-if (pi->dir == EC_MAP_END)
+if (pi->dir == EC_END)
 break;
-pm = &sc->mapping[pi->dir];
+pl = &sc->pdos[pi->dir];
-if (pm->default_mapping) {
+if (!cleared[pi->dir]) {
+ecrt_slave_config_pdo_assign_clear(sc, pi->dir);
+cleared[pi->dir] = 1;
+}
+if (ecrt_slave_config_pdo_assign_add(sc, pi->dir, pi->index))
+return -1;
+if (pi->n_entries && pi->entries) { // mapping provided
 if (sc->master->debug_level)
-EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n",
+EC_DBG("  Pdo mapping information provided.\n");
-pi->dir, sc->alias, sc->position);
-pm->default_mapping = 0;
+ecrt_slave_config_pdo_mapping_clear(sc, pi->index);
-ec_pdo_mapping_clear_pdos(pm);
-}
-if (sc->master->debug_level)
-EC_DBG("Adding Pdo 0x%04X to mapping for dir %u, config %u:%u.\n",
-pi->index, pi->dir, sc->alias, sc->position);
-if (!(pdo = ec_pdo_mapping_add_pdo(pm, pi->dir, pi->index)))
-return -1;
-if (pi->n_entries && pi->entries) { // configuration provided
-if (sc->master->debug_level)
-EC_DBG("  Pdo configuration information provided.\n");
 for (j = 0; j < pi->n_entries; j++) {
 ei = &pi->entries[j];
-if (!ec_pdo_add_entry(pdo, ei->index, ei->subindex,
-ei->bit_length))
+if (ecrt_slave_config_pdo_mapping_add(sc, pi->index,
+ei->index, ei->subindex, ei->bit_length))
 return -1;
 }
-} else { // use default Pdo configuration
-ec_slave_config_load_default_pdo_config(sc, pdo);
 }
 }
 return 0;
 }
 uint8_t subindex, /**< Subindex of Pdo entry to register. */
 ec_domain_t *domain /**< Domain. */
 )
 {
 ec_direction_t dir;
-ec_pdo_mapping_t *map;
+ec_pdo_list_t *pdos;
 unsigned int bit_offset, byte_offset;
 ec_pdo_t *pdo;
 ec_pdo_entry_t *entry;
 int ret;
 for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
-map = &sc->mapping[dir];
+pdos = &sc->pdos[dir];
 bit_offset = 0;
-list_for_each_entry(pdo, &map->pdos, list) {
+list_for_each_entry(pdo, &pdos->list, list) {
 list_for_each_entry(entry, &pdo->entries, list) {
 if (entry->index != index || entry->subindex != subindex) {
 bit_offset += entry->bit_length;
 } else {
 goto found;
 /*****************************************************************************/
 /** \cond */
-EXPORT_SYMBOL(ecrt_slave_config_pdo);
+EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
-EXPORT_SYMBOL(ecrt_slave_config_pdo_entry);
+EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
-EXPORT_SYMBOL(ecrt_slave_config_mapping);
+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_reg_pdo_entry);
 EXPORT_SYMBOL(ecrt_slave_config_sdo8);
 EXPORT_SYMBOL(ecrt_slave_config_sdo16);
 EXPORT_SYMBOL(ecrt_slave_config_sdo32);
 EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);

changeset 879	9b395c5646ab
parent 878	40c379697ebf
child 893	d921fff3d6e2