Allow gaps in PDO mapping.
--- a/NEWS Fri Oct 05 08:13:50 2007 +0000
+++ b/NEWS Thu Nov 22 08:40:03 2007 +0000
@@ -4,6 +4,12 @@
-------------------------------------------------------------------------------
+Changes in version XXX:
+
+* Allow gaps in PDO mapping read from CoE.
+
+-------------------------------------------------------------------------------
+
Changes in version 1.3.2:
* New feature: Read dynamic PDO mapping from SDO dictionary.
--- a/master/fsm_coe_map.c Fri Oct 05 08:13:50 2007 +0000
+++ b/master/fsm_coe_map.c Thu Nov 22 08:40:03 2007 +0000
@@ -467,6 +467,30 @@
pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
pdo_entry->bit_length = pdo_entry_info & 0xFF;
+ if (!pdo_entry->index && !pdo_entry->subindex) {
+ char gapname[] = "Gap";
+
+ // we have a gap in the PDO, next PDO entry
+ if (fsm->slave->master->debug_level) {
+ EC_DBG(" PDO entry gap: %u bit.\n",
+ pdo_entry->bit_length);
+ }
+
+ if (!(pdo_entry->name = (char *)
+ kmalloc(strlen(gapname) + 1, GFP_KERNEL))) {
+ EC_ERR("Failed to allocate GAP entry name.\n");
+ kfree(pdo_entry);
+ fsm->state = ec_fsm_coe_map_state_error;
+ return;
+ }
+
+ memcpy(pdo_entry->name, gapname, strlen(gapname) + 1);
+ list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
+ fsm->pdo_subindex++;
+ ec_fsm_coe_map_action_next_pdo_entry(fsm);
+ return;
+ }
+
if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry->index))) {
EC_ERR("Slave %u has no SDO 0x%04X.\n",
fsm->slave->ring_position, pdo_entry->index);