--- a/include/ecrt.h Thu May 29 15:11:26 2008 +0000
+++ b/include/ecrt.h Fri May 30 07:11:27 2008 +0000
@@ -57,14 +57,13 @@
* 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
- * functions with a process data offset, that is now returned either byte-
- * or bitwise by ecrt_slave_config_reg_pdo_entry() or
- * ecrt_slave_config_reg_pdo_entry_bitwise(), respectively. This was
- * necessary for the external domain memory. An additional advantage is,
- * that the returned offset is immediately valid. If the domain's
- * process data is allocated internally, the start address can be retrieved
- * with ecrt_domain_data().
+ * - PDO registration functions do not return a process data pointer any
+ * more. Instead an offset is returned by the funtion. In addition, an
+ * optional bit position can be requested.
+ * This was necessary for the external domain memory. An additional
+ * advantage is, that the returned offset is immediately valid.
+ * 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_pdo_assign_add() to add a Pdo to a sync manager's Pdo
* assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
@@ -240,8 +239,7 @@
/** List record type for Pdo entry mass-registration.
*
* This type is used for the array parameter of the
- * ecrt_domain_reg_pdo_entry_list() and
- * ecrt_domain_reg_pdo_entry_list_bitwise() convenience functions.
+ * ecrt_domain_reg_pdo_entry_list()
*/
typedef struct {
uint16_t alias; /**< Slave alias address. */
@@ -253,8 +251,11 @@
unsigned int *offset; /**< Pointer to a variable to store the Pdo's
offset in the process data. This can either be byte-
or bitwise, depending on whether
- ecrt_domain_reg_pdo_entry_list() or
- ecrt_domain_reg_pdo_entry_list_bitwise() was called. */
+ ecrt_domain_reg_pdo_entry_list() */
+ unsigned int *bitposition; /** Pointer to variable to store a bit
+ position within the address. Can be NULL,
+ in which case an error is raised if the
+ PDO does not byte-align. */
} ec_pdo_entry_reg_t;
/*****************************************************************************/
@@ -519,7 +520,10 @@
* corresponding sync manager and FMMU configurations are provided for slave
* configuration and the respective sync manager's assigned 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.
+ * entry's data inside the domain's process data is returned. Optionally, the
+ * Pdo entry bit position can be retrieved if a non-null pointer is passed
+ * to the \a bitposition parameter. If this is null, an error is raised if
+ * the Pdo entry does not byte align.
*
* \retval >=0 Success: Offset of the Pdo entry's process data.
* \retval -1 Error: Pdo entry not found.
@@ -530,24 +534,9 @@
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t entry_index, /**< Index of the Pdo entry to register. */
uint8_t entry_subindex, /**< Subindex of the Pdo entry to register. */
- ec_domain_t *domain /**< Domain. */
- );
-
-/** Registers a Pdo entry for process data exchange in a domain.
- *
- * Bitwise registration function.
- *
- * \see ecrt_slave_config_reg_pdo_entry().
- *
- * \retval >=0 Success: Bit 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_bitwise(
- ec_slave_config_t *sc, /**< Slave configuration. */
- uint16_t entry_index, /**< Index of the Pdo entry to register. */
- uint8_t entry_subindex, /**< Subindex of the Pdo entry to register. */
- ec_domain_t *domain /**< Domain. */
+ ec_domain_t *domain, /**< Domain. */
+ unsigned int *bitposition /**< Optional address if bit addressing
+ is desired */
);
/** Add an Sdo configuration.
@@ -647,22 +636,6 @@
registrations. */
);
-/** Registers a bunch of Pdo entries for a domain.
- *
- * Bitwise registration.
- *
- * \see ecrt_domain_reg_pdo_entry_list()
- *
- * \attention The registration array has to be terminated with an empty
- * structure, or one with the \a index field set to zero!
- * \return 0 on success, else non-zero.
- */
-int ecrt_domain_reg_pdo_entry_list_bitwise(
- ec_domain_t *domain, /**< Domain. */
- const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
- registrations. */
- );
-
/** Returns the current size of the domain's process data.
*
* \return Size of the process data image.
--- a/master/domain.c Thu May 29 15:11:26 2008 +0000
+++ b/master/domain.c Fri May 30 07:11:27 2008 +0000
@@ -390,31 +390,7 @@
return -1;
if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
- reg->subindex, domain)) < 0)
- return -1;
-
- *reg->offset = ret;
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-int ecrt_domain_reg_pdo_entry_list_bitwise(ec_domain_t *domain,
- const ec_pdo_entry_reg_t *regs)
-{
- const ec_pdo_entry_reg_t *reg;
- ec_slave_config_t *sc;
- int ret;
-
- for (reg = regs; reg->index; reg++) {
- if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
- reg->position, reg->vendor_id, reg->product_code)))
- return -1;
-
- if ((ret = ecrt_slave_config_reg_pdo_entry_bitwise(sc, reg->index,
- reg->subindex, domain)) < 0)
+ reg->subindex, domain, reg->bitposition)) < 0)
return -1;
*reg->offset = ret;
--- a/master/slave_config.c Thu May 29 15:11:26 2008 +0000
+++ b/master/slave_config.c Fri May 30 07:11:27 2008 +0000
@@ -604,34 +604,11 @@
/*****************************************************************************/
int ecrt_slave_config_reg_pdo_entry(
- ec_slave_config_t *sc, /**< Slave configuration. */
- uint16_t index, /**< Index of Pdo entry to register. */
- uint8_t subindex, /**< Subindex of Pdo entry to register. */
- ec_domain_t *domain /**< Domain. */
- )
-{
- int ret = ecrt_slave_config_reg_pdo_entry_bitwise(
- sc, index, subindex, domain);
-
- if (ret < 0)
- return ret;
-
- if (ret % 8) {
- EC_ERR("Bytewise Pdo entry registration requested, but the result is "
- "not byte-aligned.\n");
- return -3;
- }
-
- return ret / 8;
-}
-
-/*****************************************************************************/
-
-int ecrt_slave_config_reg_pdo_entry_bitwise(
- ec_slave_config_t *sc, /**< Slave configuration. */
- uint16_t index, /**< Index of Pdo entry to register. */
- uint8_t subindex, /**< Subindex of Pdo entry to register. */
- ec_domain_t *domain /**< Domain. */
+ ec_slave_config_t *sc,
+ uint16_t index,
+ uint8_t subindex,
+ ec_domain_t *domain,
+ unsigned int *bitpos
)
{
ec_direction_t dir;
@@ -639,7 +616,7 @@
unsigned int bit_offset;
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
- int ret;
+ int sync_offset;
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
pdos = &sc->pdos[dir];
@@ -660,10 +637,20 @@
return -1;
found:
- if ((ret = ec_slave_config_prepare_fmmu(sc, domain, dir)) < 0)
+ sync_offset = ec_slave_config_prepare_fmmu(sc, domain, dir);
+ if (sync_offset < 0)
return -2;
- return ret * 8 + bit_offset;
-}
+
+ if (bitpos) {
+ *bitpos = bit_offset % 8;
+ } else if (bit_offset % 8) {
+ EC_ERR("Bytewise Pdo entry registration requested, but the result is "
+ "not byte-aligned.\n");
+ return -3;
+ }
+
+ return sync_offset + bit_offset / 8;
+
/*****************************************************************************/