--- a/master/domain.c Fri Aug 10 15:08:44 2007 +0000
+++ b/master/domain.c Fri Aug 10 15:27:08 2007 +0000
@@ -54,7 +54,7 @@
{
struct list_head list; /**< list item */
ec_slave_t *slave; /**< slave */
- const ec_sii_sync_t *sync; /**< sync manager */
+ const ec_sync_t *sync; /**< sync manager */
off_t sync_offset; /**< pdo offset */
void **data_ptr; /**< pointer to process data pointer(s) */
}
@@ -182,46 +182,26 @@
/*****************************************************************************/
/**
- Registeres a PDO entry.
- \return 0 in case of success, else < 0
-*/
-
-int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
- ec_slave_t *slave, /**< slave */
- const ec_sii_pdo_t *pdo, /**< PDO */
- const ec_sii_pdo_entry_t *entry,
- /**< PDO registration entry */
- void **data_ptr /**< pointer to the process data
- pointer */
- )
+ * Registers a PDO entry.
+ * \return 0 in case of success, else < 0
+ */
+
+int ec_domain_reg_pdo_entry(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ ec_sync_t *sync, /**< sync manager */
+ const ec_pdo_entry_t *entry, /**< PDO entry to register */
+ void **data_ptr /**< pointer to the process data pointer */
+ )
{
ec_data_reg_t *data_reg;
- const ec_sii_sync_t *sync;
- const ec_sii_pdo_t *other_pdo;
- const ec_sii_pdo_entry_t *other_entry;
- unsigned int bit_offset, byte_offset, sync_found;
-
- // Find sync manager for PDO
- sync_found = 0;
- list_for_each_entry(sync, &slave->sii_syncs, list) {
- if (sync->index == pdo->sync_index) {
- sync_found = 1;
- break;
- }
- }
-
- if (!sync_found) {
- EC_ERR("No sync manager for PDO 0x%04X:%i.",
- pdo->index, entry->subindex);
- return -1;
- }
+ const ec_pdo_t *other_pdo;
+ const ec_pdo_entry_t *other_entry;
+ unsigned int bit_offset, byte_offset;
// Calculate offset (in sync manager) for process data pointer
bit_offset = 0;
byte_offset = 0;
- list_for_each_entry(other_pdo, &slave->sii_pdos, list) {
- if (other_pdo->sync_index != sync->index) continue;
-
+ list_for_each_entry(other_pdo, &sync->pdos, list) {
list_for_each_entry(other_entry, &other_pdo->entries, list) {
if (other_entry == entry) {
byte_offset = bit_offset / 8;
@@ -238,99 +218,18 @@
return -1;
}
- if (ec_slave_prepare_fmmu(slave, domain, sync)) {
+ if (ec_slave_prepare_fmmu(sync->slave, domain, sync)) {
EC_ERR("FMMU configuration failed.\n");
kfree(data_reg);
return -1;
}
- data_reg->slave = slave;
+ data_reg->slave = sync->slave;
data_reg->sync = sync;
data_reg->sync_offset = byte_offset;
data_reg->data_ptr = data_ptr;
-
list_add_tail(&data_reg->list, &domain->data_regs);
- ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- 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_sii_sync_t *sync;
- unsigned int sync_found, sync_index;
- uint16_t sync_length;
-
- switch (dir) {
- case EC_DIR_OUTPUT: sync_index = 2; break;
- case EC_DIR_INPUT: sync_index = 3; break;
- default:
- EC_ERR("Invalid direction!\n");
- return -1;
- }
-
- // Find sync manager
- sync_found = 0;
- list_for_each_entry(sync, &slave->sii_syncs, list) {
- if (sync->index == sync_index) {
- sync_found = 1;
- break;
- }
- }
-
- if (!sync_found) {
- 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);
-
- ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
-
return 0;
}
@@ -415,7 +314,7 @@
fmmu = &slave->fmmus[j];
if (fmmu->domain == domain) {
fmmu->logical_start_address = base_address + domain->data_size;
- sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
+ sync_size = ec_sync_size(fmmu->sync);
domain->data_size += sync_size;
if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {
if (ec_domain_add_datagram(domain, datagram_offset,
@@ -502,130 +401,134 @@
*****************************************************************************/
/**
- Registers a PDO in a domain.
- \return pointer to the slave on success, else NULL
- \ingroup RealtimeInterface
-*/
-
-ec_slave_t *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 pdo_index,
- /**< PDO index */
- uint8_t pdo_subindex,
- /**< PDO subindex */
- void **data_ptr
- /**< address of the process data
- pointer */
- )
-{
+ * Registers a PDO for a domain.
+ * \return 0 on success, else non-zero
+ * \ingroup RealtimeInterface
+ */
+
+int ecrt_domain_register_pdo(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ 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_sync_t *sync;
+ const ec_pdo_t *pdo;
+ const ec_pdo_entry_t *entry;
+ unsigned int i;
+
+ // 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 != pdo_entry_index ||
+ entry->subindex != pdo_entry_subindex) continue;
+
+ // PDO entry found
+ if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) {
+ return -1;
+ }
+
+ return 0;
+ }
+ }
+ }
+
+ EC_ERR("PDO entry 0x%04X:%u is not mapped in slave %u.\n",
+ pdo_entry_index, pdo_entry_subindex, slave->ring_position);
+ return -1;
+}
+
+/*****************************************************************************/
+
+/**
+ * Registers a bunch of data fields.
+ * \attention The list has to be terminated with a NULL structure ({})!
+ * \return 0 in case of success, else < 0
+ * \ingroup RealtimeInterface
+ */
+
+int ecrt_domain_register_pdo_list(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */
+ )
+{
+ const ec_pdo_reg_t *reg;
ec_slave_t *slave;
- ec_master_t *master;
- const ec_sii_pdo_t *pdo;
- const ec_sii_pdo_entry_t *entry;
-
- 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;
-
- list_for_each_entry(pdo, &slave->sii_pdos, list) {
- list_for_each_entry(entry, &pdo->entries, list) {
- if (entry->index != pdo_index
- || entry->subindex != pdo_subindex) continue;
-
- if (ec_domain_reg_pdo_entry(domain, slave, pdo, entry, data_ptr)) {
- return NULL;
- }
-
- return slave;
- }
- }
-
- EC_ERR("Slave %i does not provide PDO 0x%04X:%i.\n",
- slave->ring_position, pdo_index, pdo_subindex);
- return NULL;
-}
-
-/*****************************************************************************/
-
-/**
- Registeres a bunch of data fields.
- \attention The list has to be terminated with a NULL structure ({})!
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-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;
-
- for (pdo = pdos; pdo->slave_address; pdo++)
- if (!ecrt_domain_register_pdo(domain, pdo->slave_address,
- pdo->vendor_id,
- pdo->product_code,
- pdo->pdo_index,
- pdo->pdo_subindex,
- pdo->data_ptr))
+
+ 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;
}
/*****************************************************************************/