bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Allow gaps in PDO mapping.

This commit is contained in:
Florian Pose 2007-11-22 08:40:03 +00:00
parent 072b537d59
commit 047bcb6489
2 changed files with 30 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
NEWS
View File

@ -4,6 +4,12 @@ $Id$
-------------------------------------------------------------------------------
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.

24
master/fsm_coe_map.c
View File

@ -467,6 +467,30 @@ void ec_fsm_coe_map_state_pdo_entry(
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);