--- a/NEWS Thu Feb 28 14:18:37 2008 +0000
+++ b/NEWS Thu Feb 28 14:29:50 2008 +0000
@@ -17,7 +17,7 @@
- Added ec_slave_config_state_t for the new method
ecrt_slave_config_state().
- Process data memory for a domain can now be allocated externally. This
- offers the possibility to use a shared-memory-region. Therefore,
+ offers the possibility to use a shared-memory region. Therefore,
added the domain methods ecrt_domain_size() and
ecrt_domain_external_memory().
- Replaced the process data pointers in the Pdo entry registration
@@ -27,10 +27,11 @@
is directly usable. If the domain's process data is allocated internally,
the start address can be retrieved with ecrt_domain_data().
- Replaced ecrt_slave_pdo_mapping/add/clear() with
- ecrt_slave_config_mapping() that is now able to specify Pdo mapping and
- Pdo configuration. Pdo entries mapped in this way can now immediately be
- registered. The Pdo mapping and the configuration are described with the
- new data types ec_pdo_info_t and ec_pdo_entry_info_t.
+ ecrt_slave_config_pdo() to add a Pdo to the mapping and
+ ecrt_slave_config_pdo_entry() to add a Pdo entry to a Pdo configuration.
+ ecrt_slave_config_mapping() is a convenience function for
+ both, that uses the new data types ec_pdo_info_t and ec_pdo_entry_info_t.
+ Mapped Pdo entries can now immediately be registered.
- Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
ecrt_master_state(), for consistency reasons.
--- a/include/ecrt.h Thu Feb 28 14:18:37 2008 +0000
+++ b/include/ecrt.h Thu Feb 28 14:29:50 2008 +0000
@@ -54,7 +54,7 @@
* - Added ec_slave_config_state_t for the new method
* ecrt_slave_config_state().
* - Process data memory for a domain can now be allocated externally. This
- * offers the possibility to use a shared-memory-region. Therefore,
+ * offers the possibility to use a shared-memory region. Therefore,
* added the domain methods ecrt_domain_size() and
* ecrt_domain_external_memory().
* - Replaced the process data pointers in the Pdo entry registration
@@ -64,10 +64,11 @@
* is directly usable. If the domain's process data is allocated internally,
* the start address can be retrieved with ecrt_domain_data().
* - Replaced ecrt_slave_pdo_mapping/add/clear() with
- * ecrt_slave_config_mapping() that is now able to specify Pdo mapping and
- * Pdo configuration. Pdo entries mapped in this way can now immediately be
- * registered. The Pdo mapping and the configuration are described with the
- * new data types ec_pdo_info_t and ec_pdo_entry_info_t.
+ * ecrt_slave_config_pdo() to add a Pdo to the mapping and
+ * ecrt_slave_config_pdo_entry() to add a Pdo entry to a Pdo configuration.
+ * ecrt_slave_config_mapping() is a convenience function for
+ * both, that uses the new data types ec_pdo_info_t and ec_pdo_entry_info_t.
+ * Mapped Pdo entries can now immediately be registered.
* - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
* ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
* ecrt_master_state(), for consistency reasons.
@@ -370,34 +371,73 @@
* Slave configuration methods
*****************************************************************************/
+/** Add a Pdo to the slave's Pdo mapping for the given direction.
+ *
+ * The first call of this function for a given \a dir will clear the default
+ * mapping.
+ *
+ * \see ecrt_slave_config_mapping()
+ * \return zero on success, else non-zero
+ */
+int ecrt_slave_config_pdo(
+ ec_slave_config_t *sc, /**< Slave configuration. */
+ ec_direction_t dir, /**< Pdo direction (input/output). */
+ uint16_t index /**< Index of the Pdo to map. */
+ );
+
+/** Add a Pdo entry to the given Pdo's configuration.
+ *
+ * The first call of this function for a given \a pdo_index will clear the
+ * default Pdo configuration.
+ *
+ * \see ecrt_slave_config_mapping()
+ * \return zero on success, else non-zero
+ */
+int ecrt_slave_config_pdo_entry(
+ ec_slave_config_t *sc, /**< Slave configuration. */
+ uint16_t pdo_index, /**< Index of the Pdo to configure. */
+ uint16_t entry_index, /**< Index of the Pdo entry to add to the Pdo's
+ configuration. */
+ uint8_t entry_subindex, /**< Subindex of the Pdo entry to add to the
+ Pdo's configuration. */
+ uint8_t entry_bit_length /**< Size of the Pdo entry in bit. */
+ );
+
/** Specify the Pdo mapping and (optionally) the Pdo configuration.
*
+ * This function is a convenience function for the ecrt_slave_config_pdo()
+ * and ecrt_slave_config_pdo_entry() functions, that are better suitable
+ * for automatic code generation.
+ *
* The following example shows, how to specify a complete Pdo mapping
* including the Pdo configuration. With this information, the master is able
* to reserve the complete process data, even if the slave is not present
* at configuration time:
*
* \code
- * const ec_pdo_info_t complete_mapping[] = {
- * {EC_DIR_INPUT, 0x1600, 2, { // channel 1
- * {0x7000, 0, 16}, // value
- * {0x7000, 1, 8}, // status
- * }},
- * {EC_DIR_INPUT, 0x1601, 2, { // channel 2
- * {0x7001, 0, 16}, // value
- * {0x7001, 1, 8}, // status
- * }}
+ * const ec_pdo_entry_info_t el3162_channel1[] = {
+ * {0x3101, 1, 8}, // status
+ * {0x3101, 2, 16} // value
* };
*
- * if (ecrt_slave_config_mapping(slave_config_ana_in, 2, complete_mapping)) {
- * // error
- * }
+ * const ec_pdo_entry_info_t el3162_channel2[] = {
+ * {0x3102, 1, 8}, // status
+ * {0x3102, 2, 16} // value
+ * };
+ *
+ * const ec_pdo_info_t el3162_mapping[] = {
+ * {EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
+ * {EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
+ * };
+ *
+ * if (ecrt_slave_config_mapping(sc, 2, el3162_mapping))
+ * return -1; // error
* \endcode
*
* The next example shows, how to configure only the Pdo mapping. The entries
* for each mapped Pdo are taken from the default Pdo configuration. Please
- * note, that Pdo entry registration will fail, if no Pdo configuration is
- * specified and the slave is offline.
+ * note, that Pdo entry registration will fail, if the Pdo configuration is
+ * left empty and the slave is offline.
*
* \code
* const ec_pdo_info_t pdo_mapping[] = {
@@ -405,9 +445,8 @@
* {EC_DIR_INPUT, 0x1601} // Channel 2
* };
*
- * if (ecrt_slave_config_mapping(slave_config_ana_in, 2, pdo_mapping)) {
- * // error
- * }
+ * if (ecrt_slave_config_mapping(slave_config_ana_in, 2, pdo_mapping))
+ * return -1; // error
* \endcode
*
* \return zero on success, else non-zero
@@ -418,15 +457,18 @@
const ec_pdo_info_t pdos[] /**< List with Pdo mapping. */
);
-/** Registers a Pdo entry of the given slave configuration at a domain.
- *
- * Searches the mapping and the Pdo configurations for the given Pdo entry. If
- * found, the curresponding sync manager/FMMU is added to the domain and the
- * offset of the Pdo entry's data in the domain process data is returned.
- *
- * \retval >=0 Offset of the Pdo entry's process data.
- * \retval -1 Pdo entry not found.
- * \retval -2 Failed to register Pdo entry.
+/** Registers a Pdo entry for process data exchange in a domain.
+ *
+ * Searches the current mapping and Pdo configurations for the given Pdo
+ * entry. An error is raised, if the given entry is not mapped. Otherwise, the
+ * corresponding sync manager and FMMU configurations are provided for slave
+ * configuration and the respective sync manager's Pdos are appended to the
+ * given domain, if not already done. The offset of the requested Pdo entry's
+ * data inside the domain's process data is returned.
+ *
+ * \retval >=0 Success: Offset of the Pdo entry's process data.
+ * \retval -1 Error: Pdo entry not found.
+ * \retval -2 Error: Failed to register Pdo entry.
*/
int ecrt_slave_config_reg_pdo_entry(
ec_slave_config_t *sc, /**< Slave configuration. */
--- a/master/pdo.c Thu Feb 28 14:18:37 2008 +0000
+++ b/master/pdo.c Thu Feb 28 14:29:50 2008 +0000
@@ -44,10 +44,6 @@
/*****************************************************************************/
-void ec_pdo_clear_entries(ec_pdo_t *);
-
-/*****************************************************************************/
-
/** Pdo constructor.
*/
void ec_pdo_init(
@@ -57,6 +53,7 @@
pdo->sync_index = -1; // not assigned
pdo->name = NULL;
INIT_LIST_HEAD(&pdo->entries);
+ pdo->default_config = 0;
}
/*****************************************************************************/
@@ -70,6 +67,7 @@
pdo->sync_index = other_pdo->sync_index;
pdo->name = NULL;
INIT_LIST_HEAD(&pdo->entries);
+ pdo->default_config = other_pdo->default_config;
if (ec_pdo_set_name(pdo, other_pdo->name))
goto out_return;
@@ -89,7 +87,7 @@
/** Pdo destructor.
*/
-void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo */)
+void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
{
if (pdo->name)
kfree(pdo->name);
@@ -101,7 +99,7 @@
/** Clear Pdo entry list.
*/
-void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo */)
+void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
{
ec_pdo_entry_t *entry, *next;
@@ -142,6 +140,32 @@
/*****************************************************************************/
+/** Add a new Pdo entry to the configuration.
+ */
+ec_pdo_entry_t *ec_pdo_add_entry(
+ ec_pdo_t *pdo,
+ uint16_t index,
+ uint8_t subindex,
+ uint8_t bit_length
+ )
+{
+ ec_pdo_entry_t *entry;
+
+ if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for Pdo entry.\n");
+ return NULL;
+ }
+
+ ec_pdo_entry_init(entry);
+ entry->index = index;
+ entry->subindex = subindex;
+ entry->bit_length = bit_length;
+ list_add_tail(&entry->list, &pdo->entries);
+ return entry;
+}
+
+/*****************************************************************************/
+
/** Copy Pdo entries from another Pdo.
*/
int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)
--- a/master/pdo.h Thu Feb 28 14:18:37 2008 +0000
+++ b/master/pdo.h Thu Feb 28 14:29:50 2008 +0000
@@ -58,6 +58,8 @@
int8_t sync_index; /**< Assigned sync manager. */
char *name; /**< Pdo name. */
struct list_head entries; /**< List of Pdo entries. */
+ unsigned int default_config; /**< The entries contain the default Pdo
+ configuration. */
} ec_pdo_t;
/*****************************************************************************/
@@ -77,7 +79,9 @@
void ec_pdo_init(ec_pdo_t *);
int ec_pdo_init_copy(ec_pdo_t *, const ec_pdo_t *);
void ec_pdo_clear(ec_pdo_t *);
+void ec_pdo_clear_entries(ec_pdo_t *);
int ec_pdo_set_name(ec_pdo_t *, const char *);
+ec_pdo_entry_t *ec_pdo_add_entry(ec_pdo_t *, uint16_t, uint8_t, uint8_t);
int ec_pdo_copy_entries(ec_pdo_t *, const ec_pdo_t *);
int ec_pdo_equal_entries(const ec_pdo_t *, const ec_pdo_t *);
--- a/master/pdo_mapping.c Thu Feb 28 14:18:37 2008 +0000
+++ b/master/pdo_mapping.c Thu Feb 28 14:29:50 2008 +0000
@@ -115,7 +115,34 @@
/*****************************************************************************/
-/** Adds a Pdo to the mapping.
+/** Add a new Pdo to the mapping.
+ *
+ * \retval >0 Pointer to new Pdo.
+ * \retval NULL No memory.
+ */
+ec_pdo_t *ec_pdo_mapping_add_pdo(
+ ec_pdo_mapping_t *pm, /**< Pdo mapping. */
+ uint16_t index, /**< Pdo index. */
+ ec_direction_t dir /**< Direction. */
+ )
+{
+ ec_pdo_t *pdo;
+
+ if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for Pdo.\n");
+ return NULL;
+ }
+
+ ec_pdo_init(pdo);
+ pdo->dir = dir;
+ pdo->index = index;
+ list_add_tail(&pdo->list, &pm->pdos);
+ return pdo;
+}
+
+/*****************************************************************************/
+
+/** Add the copy of an existing Pdo to the mapping.
*
* \return 0 on success, else < 0
*/
@@ -134,7 +161,7 @@
}
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for Pdo mapping.\n");
+ EC_ERR("Failed to allocate Pdo memory.\n");
return -1;
}
@@ -149,111 +176,6 @@
/*****************************************************************************/
-/** Add a Pdo to the mapping.
- *
- * The first call of this method will clear the default mapping.
- *
- * \retval 0 Success.
- * \retval -1 Error.
- */
-int ec_pdo_mapping_add_pdo_info(
- ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- const ec_pdo_info_t *pdo_info, /**< Pdo information. */
- const ec_slave_config_t *config /**< Slave configuration, to load
- default entries. */
- )
-{
- unsigned int i;
- ec_pdo_t *pdo;
- ec_pdo_entry_t *entry;
- const ec_pdo_entry_info_t *entry_info;
-
- if (pm->default_mapping) {
- pm->default_mapping = 0;
- ec_pdo_mapping_clear_pdos(pm);
- }
-
- if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for Pdo.\n");
- goto out_return;
- }
-
- ec_pdo_init(pdo);
- pdo->dir = pdo_info->dir;
- pdo->index = pdo_info->index;
-
- if (config->master->debug_level)
- EC_INFO("Adding Pdo 0x%04X to mapping.\n", pdo->index);
-
- if (pdo_info->n_entries && pdo_info->entries) { // configuration provided
- if (config->master->debug_level)
- EC_INFO(" Pdo configuration provided.\n");
-
- for (i = 0; i < pdo_info->n_entries; i++) {
- entry_info = &pdo_info->entries[i];
-
- if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for Pdo entry.\n");
- goto out_free;
- }
-
- ec_pdo_entry_init(entry);
- entry->index = entry_info->index;
- entry->subindex = entry_info->subindex;
- entry->bit_length = entry_info->bit_length;
- list_add_tail(&entry->list, &pdo->entries);
- }
- } else { // use default Pdo configuration
- if (config->master->debug_level)
- EC_INFO(" Using default Pdo configuration.\n");
-
- if (config->slave) {
- ec_sync_t *sync;
- ec_pdo_t *default_pdo;
-
- if ((sync = ec_slave_get_pdo_sync(config->slave, pdo->dir))) {
- list_for_each_entry(default_pdo, &sync->mapping.pdos, list) {
- if (default_pdo->index != pdo->index)
- continue;
- if (config->master->debug_level)
- EC_INFO(" Found Pdo name \"%s\".\n",
- default_pdo->name);
- // try to take Pdo name from mapped one
- if (ec_pdo_set_name(pdo, default_pdo->name))
- goto out_free;
- // copy entries (= default Pdo configuration)
- if (ec_pdo_copy_entries(pdo, default_pdo))
- goto out_free;
- if (config->master->debug_level) {
- const ec_pdo_entry_t *entry;
- list_for_each_entry(entry, &pdo->entries, list) {
- EC_INFO(" Entry 0x%04X:%u.\n",
- entry->index, entry->subindex);
- }
- }
- }
- } else {
- EC_WARN("Slave %u does not provide a default Pdo"
- " configuration!\n", config->slave->ring_position);
- }
- } else {
- EC_WARN("Failed to load default Pdo configuration for %u:%u:"
- " Slave not found.\n", config->alias, config->position);
- }
- }
-
- list_add_tail(&pdo->list, &pm->pdos);
- return 0;
-
-out_free:
- ec_pdo_clear(pdo);
- kfree(pdo);
-out_return:
- return -1;
-}
-
-/*****************************************************************************/
-
/** Makes a deep copy of another Pdo mapping.
*
* \return 0 on success, else < 0
@@ -318,14 +240,14 @@
/*****************************************************************************/
-/** Finds a Pdo with the given index and returns a const pointer.
- */
-const ec_pdo_t *ec_pdo_mapping_find_pdo_const(
+/** Finds a Pdo with the given index.
+ */
+ec_pdo_t *ec_pdo_mapping_find_pdo(
const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
uint16_t index /**< Pdo index. */
)
{
- const ec_pdo_t *pdo;
+ ec_pdo_t *pdo;
list_for_each_entry(pdo, &pm->pdos, list) {
if (pdo->index != index)
@@ -337,3 +259,23 @@
}
/*****************************************************************************/
+
+/** Finds a Pdo with the given index and returns a const pointer.
+ */
+const ec_pdo_t *ec_pdo_mapping_find_pdo_const(
+ const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
+ uint16_t index /**< Pdo index. */
+ )
+{
+ const ec_pdo_t *pdo;
+
+ list_for_each_entry(pdo, &pm->pdos, list) {
+ if (pdo->index != index)
+ continue;
+ return pdo;
+ }
+
+ return NULL;
+}
+
+/*****************************************************************************/
--- a/master/pdo_mapping.h Thu Feb 28 14:18:37 2008 +0000
+++ b/master/pdo_mapping.h Thu Feb 28 14:29:50 2008 +0000
@@ -64,15 +64,16 @@
void ec_pdo_mapping_clear_pdos(ec_pdo_mapping_t *);
+ec_pdo_t *ec_pdo_mapping_add_pdo(ec_pdo_mapping_t *, uint16_t,
+ ec_direction_t);
int ec_pdo_mapping_add_pdo_copy(ec_pdo_mapping_t *, const ec_pdo_t *);
-int ec_pdo_mapping_add_pdo_info(ec_pdo_mapping_t *, const ec_pdo_info_t *,
- const ec_slave_config_t *);
int ec_pdo_mapping_copy(ec_pdo_mapping_t *, const ec_pdo_mapping_t *);
uint16_t ec_pdo_mapping_total_size(const ec_pdo_mapping_t *);
int ec_pdo_mapping_equal(const ec_pdo_mapping_t *, const ec_pdo_mapping_t *);
+ec_pdo_t *ec_pdo_mapping_find_pdo(const ec_pdo_mapping_t *, uint16_t);
const ec_pdo_t *ec_pdo_mapping_find_pdo_const(const ec_pdo_mapping_t *,
uint16_t);
--- a/master/slave_config.c Thu Feb 28 14:18:37 2008 +0000
+++ b/master/slave_config.c Thu Feb 28 14:29:50 2008 +0000
@@ -431,6 +431,58 @@
if (!(sync = ec_slave_get_pdo_sync(sc->slave, dir)))
continue;
ec_pdo_mapping_copy(map, &sync->mapping);
+ map->default_mapping = 1;
+ }
+}
+
+/*****************************************************************************/
+
+/** Loads the default configuration for a Pdo from the slave object.
+ */
+void ec_slave_config_load_default_pdo_config(
+ const ec_slave_config_t *sc,
+ ec_pdo_t *pdo
+ )
+{
+ const ec_sync_t *sync;
+ const ec_pdo_t *default_pdo;
+
+ pdo->default_config = 1;
+
+ if (!sc->slave) {
+ EC_WARN("Failed to load default Pdo configuration for %u:%u:"
+ " Slave not found.\n", sc->alias, sc->position);
+ return;
+ }
+
+ if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) {
+ 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) {
+ if (default_pdo->index != pdo->index)
+ continue;
+
+ if (sc->master->debug_level)
+ EC_DBG(" Found Pdo name \"%s\".\n",
+ default_pdo->name);
+
+ // try to take Pdo name from mapped one
+ ec_pdo_set_name(pdo, default_pdo->name);
+
+ // copy entries (= default Pdo configuration)
+ if (ec_pdo_copy_entries(pdo, default_pdo))
+ return;
+
+ if (sc->master->debug_level) {
+ const ec_pdo_entry_t *entry;
+ list_for_each_entry(entry, &pdo->entries, list) {
+ EC_DBG(" Entry 0x%04X:%u.\n",
+ entry->index, entry->subindex);
+ }
+ }
}
}
@@ -438,16 +490,89 @@
* Realtime interface
*****************************************************************************/
+int ecrt_slave_config_pdo(ec_slave_config_t *sc, ec_direction_t dir,
+ uint16_t index)
+{
+ ec_pdo_mapping_t *pm = &sc->mapping[dir];
+ ec_pdo_t *pdo;
+
+ if (pm->default_mapping) {
+ pm->default_mapping = 0;
+ ec_pdo_mapping_clear_pdos(pm);
+ }
+
+ if (!(pdo = ec_pdo_mapping_add_pdo(pm, index, dir)))
+ return -1;
+
+ ec_slave_config_load_default_pdo_config(sc, pdo);
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_pdo_entry(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;
+
+ for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
+ if ((pdo = ec_pdo_mapping_find_pdo(&sc->mapping[dir], pdo_index)))
+ break;
+
+ if (pdo->default_config) {
+ 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_entries,
const ec_pdo_info_t pdo_infos[])
{
unsigned int i;
-
- for (i = 0; i < n_entries; i++)
- if (ec_pdo_mapping_add_pdo_info(&sc->mapping[pdo_infos[i].dir],
- &pdo_infos[i], sc))
+ const ec_pdo_info_t *pi;
+ ec_pdo_mapping_t *pm;
+ ec_pdo_t *pdo;
+ const ec_pdo_entry_info_t *ei;
+
+ for (i = 0; i < n_entries; i++) {
+ pi = &pdo_infos[i];
+ pm = &sc->mapping[pi->dir];
+
+ if (pm->default_mapping) {
+ pm->default_mapping = 0;
+ ec_pdo_mapping_clear_pdos(pm);
+ }
+
+ if (sc->master->debug_level)
+ EC_INFO("Adding Pdo 0x%04X to mapping.\n", pi->index);
+
+ 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 (i = 0; i < pi->n_entries; i++) {
+ ei = &pi->entries[i];
+ if (!ec_pdo_add_entry(pdo, ei->index, ei->subindex,
+ ei->bit_length))
+ return -1;
+ }
+ } else { // use default Pdo configuration
+ if (sc->master->debug_level)
+ EC_DBG(" Using default Pdo configuration.\n");
+ ec_slave_config_load_default_pdo_config(sc, pdo);
+ }
+ }
+
return 0;
}
@@ -526,6 +651,8 @@
/** \cond */
+EXPORT_SYMBOL(ecrt_slave_config_pdo);
+EXPORT_SYMBOL(ecrt_slave_config_pdo_entry);
EXPORT_SYMBOL(ecrt_slave_config_mapping);
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
EXPORT_SYMBOL(ecrt_slave_config_sdo8);
--- a/master/slave_config.h Thu Feb 28 14:18:37 2008 +0000
+++ b/master/slave_config.h Thu Feb 28 14:29:50 2008 +0000
@@ -83,13 +83,12 @@
uint16_t, uint32_t, uint32_t);
void ec_slave_config_destroy(ec_slave_config_t *);
-int ec_slave_config_reg_pdo_entry(ec_slave_config_t *, ec_domain_t *,
- uint16_t, uint8_t);
-
int ec_slave_config_attach(ec_slave_config_t *);
void ec_slave_config_detach(ec_slave_config_t *);
void ec_slave_config_load_default_mapping(ec_slave_config_t *);
+void ec_slave_config_load_default_pdo_config(const ec_slave_config_t *,
+ ec_pdo_t *);
/*****************************************************************************/