--- a/master/slave_config.c Fri May 13 15:33:16 2011 +0200
+++ b/master/slave_config.c Fri May 13 15:34:20 2011 +0200
@@ -70,7 +70,7 @@
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++)
@@ -164,12 +164,15 @@
{
unsigned int i;
ec_fmmu_config_t *fmmu;
+ ec_fmmu_config_t *prev_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->logical_start_address;
+ return fmmu->domain_address;
}
if (sc->used_fmmus == EC_MAX_FMMUS) {
@@ -177,13 +180,29 @@
return -EOVERFLOW;
}
- fmmu = &sc->fmmu_configs[sc->used_fmmus++];
-
- down(&sc->master->master_sem);
- ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
- up(&sc->master->master_sem);
-
- return fmmu->logical_start_address;
+ fmmu = &sc->fmmu_configs[sc->used_fmmus];
+
+ ec_mutex_lock(&sc->master->master_mutex);
+ ec_fmmu_config_init(fmmu, sc, sync_index, dir);
+ fmmu_logical_start_address = domain->tx_size;
+ tx_size = fmmu->data_size;
+ 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;
}
/*****************************************************************************/
@@ -227,8 +246,6 @@
slave->config = sc;
sc->slave = slave;
- ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
-
EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);
return 0;
@@ -494,6 +511,18 @@
/*****************************************************************************/
+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)
{
@@ -507,18 +536,18 @@
return -EINVAL;
}
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);
if (IS_ERR(pdo)) {
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
return PTR_ERR(pdo);
}
pdo->sync_index = sync_index;
ec_slave_config_load_default_mapping(sc, pdo);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
return 0;
}
@@ -535,9 +564,9 @@
return;
}
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
}
/*****************************************************************************/
@@ -563,10 +592,10 @@
break;
if (pdo) {
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
entry = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
entry_bit_length);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
if (IS_ERR(entry))
retval = PTR_ERR(entry);
} else {
@@ -594,9 +623,9 @@
break;
if (pdo) {
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
ec_pdo_clear_entries(pdo);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
} else {
EC_CONFIG_WARN(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
}
@@ -685,10 +714,6 @@
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;
@@ -712,7 +737,11 @@
if (sync_offset < 0)
return sync_offset;
- return sync_offset + bit_offset / 8;
+ EC_CONFIG_DBG(sc, 1, "%s(index = 0x%04X, "
+ "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;
}
}
}
@@ -776,9 +805,9 @@
return ret;
}
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
list_add_tail(&req->list, &sc->sdo_configs);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
return 0;
}
@@ -861,9 +890,9 @@
return ret;
}
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
list_add_tail(&req->list, &sc->sdo_configs);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
return 0;
}
@@ -902,9 +931,9 @@
memset(req->data, 0x00, size);
req->data_size = size;
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
list_add_tail(&req->list, &sc->sdo_requests);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
return req;
}
@@ -944,9 +973,9 @@
return ERR_PTR(ret);
}
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
list_add_tail(&voe->list, &sc->voe_handlers);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
return voe;
}
@@ -1027,9 +1056,9 @@
return ret;
}
- down(&sc->master->master_sem);
+ ec_mutex_lock(&sc->master->master_mutex);
list_add_tail(&req->list, &sc->soe_configs);
- up(&sc->master->master_sem);
+ ec_mutex_unlock(&sc->master->master_mutex);
return 0;
}
@@ -1039,6 +1068,7 @@
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);