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ethercat
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Introduced ec_slave_get_pdo_sync().

This commit is contained in:
Florian Pose 2007-03-06 09:15:12 +00:00
parent b75973f27f
commit 71f2050fa4
3 changed files with 32 additions and 11 deletions
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12
master/domain.c
View File

@ -266,22 +266,12 @@ int ec_domain_reg_pdo_range(ec_domain_t *domain, /**< EtherCAT domain */
{
ec_data_reg_t *data_reg;
ec_sii_sync_t *sync;
unsigned int sync_index;
uint16_t sync_length;
switch (dir) { // FIXME
case EC_DIR_OUTPUT: sync_index = 2; break;
case EC_DIR_INPUT: sync_index = 3; break;
default:
EC_ERR("Invalid direction!\n");
return -1;
}
if (sync_index >= slave->sii_sync_count) {
if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
EC_ERR("No sync manager found for PDO range.\n");
return -1;
}
sync = &slave->sii_syncs[sync_index];
// Allocate memory for data registration object
if (!(data_reg =

30
master/slave.c
View File

@ -1113,6 +1113,36 @@ uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
/*****************************************************************************/
/**
*/
ec_sii_sync_t *ec_slave_get_pdo_sync(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir /**< input or output */
)
{
unsigned int sync_index;
switch (dir) {
case EC_DIR_OUTPUT: sync_index = 0; break;
case EC_DIR_INPUT: sync_index = 1; break;
default:
EC_ERR("Invalid direction!\n");
return NULL;
}
if (slave->sii_mailbox_protocols) sync_index += 2;
if (sync_index >= slave->sii_sync_count) {
EC_ERR("No appropriate sync manager found.\n");
return NULL;
}
return &slave->sii_syncs[sync_index];
}
/*****************************************************************************/
/**
Initializes a sync manager configuration page with EEPROM data.
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.

1
master/slave.h
View File

@ -284,6 +284,7 @@ int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t,
int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
// misc.
ec_sii_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
void ec_slave_sync_config(const ec_slave_t *, const ec_sii_sync_t *,
uint8_t *);
void ec_slave_fmmu_config(const ec_slave_t *, const ec_fmmu_t *, uint8_t *);