--- a/master/domain.c Thu Mar 08 18:15:25 2007 +0000
+++ b/master/domain.c Fri Mar 09 10:24:50 2007 +0000
@@ -236,64 +236,6 @@
/*****************************************************************************/
/**
- Registeres a PDO range.
- \return 0 in case of success, else < 0
-*/
-
-int ec_domain_reg_pdo_range(ec_domain_t *domain, /**< EtherCAT domain */
- ec_slave_t *slave, /**< slave */
- ec_direction_t dir, /**< data direction */
- uint16_t offset, /**< offset */
- uint16_t length, /**< length */
- void **data_ptr /**< pointer to the process data
- pointer */
- )
-{
- ec_data_reg_t *data_reg;
- ec_sync_t *sync;
- uint16_t sync_length;
-
- if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
- EC_ERR("No sync manager found for PDO range.\n");
- return -1;
- }
-
- // Allocate memory for data registration object
- if (!(data_reg =
- (ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate data registration.\n");
- return -1;
- }
-
- if (ec_slave_prepare_fmmu(slave, domain, sync)) {
- EC_ERR("FMMU configuration failed.\n");
- kfree(data_reg);
- return -1;
- }
-
- data_reg->slave = slave;
- data_reg->sync = sync;
- data_reg->sync_offset = offset;
- data_reg->data_ptr = data_ptr;
-
- // estimate sync manager length
- sync_length = offset + length;
- if (sync->est_length < sync_length) {
- sync->est_length = sync_length;
- if (domain->master->debug_level) {
- EC_DBG("Estimating length of sync manager %i of slave %i to %i.\n",
- sync->index, slave->ring_position, sync_length);
- }
- }
-
- list_add_tail(&data_reg->list, &domain->data_regs);
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
Clears the list of the data registrations.
*/
@@ -460,53 +402,44 @@
/**
* Registers a PDO for a domain.
- * \return pointer to the slave on success, else NULL
+ * \return 0 on success, else non-zero
* \ingroup RealtimeInterface
*/
-ec_slave_t *ecrt_domain_register_pdo(
+int ecrt_domain_register_pdo(
ec_domain_t *domain, /**< EtherCAT domain */
- const char *address, /**< ASCII address of the slave,
- see ecrt_master_get_slave() */
- uint32_t vendor_id, /**< vendor ID */
- uint32_t product_code, /**< product code */
- uint16_t entry_index, /**< PDO entry index */
- uint8_t entry_subindex, /**< PDO entry subindex */
+ ec_slave_t *slave, /**< EtherCAT slave */
+ uint16_t pdo_entry_index, /**< PDO entry index */
+ uint8_t pdo_entry_subindex, /**< PDO entry subindex */
void **data_ptr /**< address of the process data pointer */
)
{
- ec_slave_t *slave;
- ec_master_t *master;
ec_sync_t *sync;
const ec_pdo_t *pdo;
const ec_pdo_entry_t *entry;
unsigned int i;
- master = domain->master;
-
- // translate address and validate slave
- if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
- if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
-
+ // search for PDO entry
for (i = 0; i < slave->sii_sync_count; i++) {
sync = &slave->sii_syncs[i];
list_for_each_entry(pdo, &sync->pdos, list) {
list_for_each_entry(entry, &pdo->entries, list) {
- if (entry->index != entry_index ||
- entry->subindex != entry_subindex) continue;
-
+ if (entry->index != pdo_entry_index ||
+ entry->subindex != pdo_entry_subindex) continue;
+
+ // PDO entry found
if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) {
- return NULL;
+ return -1;
}
- return slave;
+ return 0;
}
}
}
EC_ERR("PDO entry 0x%04X:%u is not mapped in slave %u.\n",
- entry_index, entry_subindex, slave->ring_position);
- return NULL;
+ pdo_entry_index, pdo_entry_subindex, slave->ring_position);
+ return -1;
}
/*****************************************************************************/
@@ -520,64 +453,82 @@
int ecrt_domain_register_pdo_list(
ec_domain_t *domain, /**< EtherCAT domain */
- const ec_pdo_reg_t *pdos /**< array of PDO registrations */
+ const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */
)
{
- const ec_pdo_reg_t *pdo;
-
- for (pdo = pdos; pdo->slave_address; pdo++)
- if (!ecrt_domain_register_pdo(domain, pdo->slave_address,
- pdo->vendor_id, pdo->product_code,
- pdo->pdo_entry_index, pdo->pdo_entry_subindex,
- pdo->data_ptr))
+ const ec_pdo_reg_t *reg;
+ ec_slave_t *slave;
+
+ for (reg = pdo_regs; reg->slave_address; reg++) {
+ if (!(slave = ecrt_master_get_slave(domain->master,
+ reg->slave_address, reg->vendor_id,
+ reg->product_code)))
return -1;
+ if (ecrt_domain_register_pdo(domain, slave, reg->pdo_entry_index,
+ reg->pdo_entry_subindex, reg->data_ptr))
+ return -1;
+ }
+
return 0;
}
/*****************************************************************************/
/**
- Registers a PDO range in a domain.
- \return pointer to the slave on success, else NULL
- \ingroup RealtimeInterface
-*/
-
-ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain,
- /**< EtherCAT domain */
- const char *address,
- /**< ASCII address of the slave,
- see ecrt_master_get_slave() */
- uint32_t vendor_id,
- /**< vendor ID */
- uint32_t product_code,
- /**< product code */
- ec_direction_t direction,
- /**< data direction */
- uint16_t offset,
- /**< offset in slave's PDO range */
- uint16_t length,
- /**< length of this range */
- void **data_ptr
- /**< address of the process data
- pointer */
- )
-{
- ec_slave_t *slave;
- ec_master_t *master;
-
- master = domain->master;
-
- // translate address and validate slave
- if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
- if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
-
- if (ec_domain_reg_pdo_range(domain, slave,
- direction, offset, length, data_ptr)) {
- return NULL;
- }
-
- return slave;
+ * Registers a PDO range in a domain.
+ * \return 0 on success, else non-zero
+ * \ingroup RealtimeInterface
+ */
+
+int ecrt_domain_register_pdo_range(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir, /**< data direction */
+ uint16_t offset, /**< offset in slave's PDO range */
+ uint16_t length, /**< length of this range */
+ void **data_ptr /**< address of the process data pointer */
+ )
+{
+ ec_data_reg_t *data_reg;
+ ec_sync_t *sync;
+ uint16_t sync_length;
+
+ if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
+ EC_ERR("No sync manager found for PDO range.\n");
+ return -1;
+ }
+
+ // Allocate memory for data registration object
+ if (!(data_reg =
+ (ec_data_reg_t *) kmalloc(sizeof(ec_data_reg_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate data registration.\n");
+ return -1;
+ }
+
+ if (ec_slave_prepare_fmmu(slave, domain, sync)) {
+ EC_ERR("FMMU configuration failed.\n");
+ kfree(data_reg);
+ return -1;
+ }
+
+ data_reg->slave = slave;
+ data_reg->sync = sync;
+ data_reg->sync_offset = offset;
+ data_reg->data_ptr = data_ptr;
+
+ // estimate sync manager length
+ sync_length = offset + length;
+ if (sync->est_length < sync_length) {
+ sync->est_length = sync_length;
+ if (domain->master->debug_level) {
+ EC_DBG("Estimating length of sync manager %i of slave %i to %i.\n",
+ sync->index, slave->ring_position, sync_length);
+ }
+ }
+
+ list_add_tail(&data_reg->list, &domain->data_regs);
+ return 0;
}
/*****************************************************************************/