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Added bitwise Pdo registration.

This commit is contained in:
Florian Pose 2008-05-28 07:26:28 +00:00
parent fee7393b89
commit bf2e1b9ee1
3 changed files with 101 additions and 13 deletions
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54
include/ecrt.h
View File

@ -58,11 +58,13 @@
* 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 by
* ecrt_slave_config_reg_pdo_entry(). This was necessary for the external
* domain memory. An additional advantage is, that the returned offset value
* is directly usable. If the domain's process data is allocated internally,
* the start address can be retrieved with ecrt_domain_data().
* 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().
* - 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
@ -238,7 +240,8 @@ typedef struct {
/** List record type for Pdo entry mass-registration.
*
* This type is used for the array parameter of the
* ecrt_domain_reg_pdo_entry_list() convenience function.
* ecrt_domain_reg_pdo_entry_list() and
* ecrt_domain_reg_pdo_entry_list_bitwise() convenience functions.
*/
typedef struct {
uint16_t alias; /**< Slave alias address. */
@ -248,7 +251,10 @@ typedef struct {
uint16_t index; /**< Pdo entry index. */
uint8_t subindex; /**< Pdo entry subindex. */
unsigned int *offset; /**< Pointer to a variable to store the Pdo's
offset in the process data. */
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. */
} ec_pdo_entry_reg_t;
/*****************************************************************************/
@ -518,6 +524,7 @@ int ecrt_slave_config_pdos(
* \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.
* \retval -3 Error: Pdo entry is not byte-aligned.
*/
int ecrt_slave_config_reg_pdo_entry(
ec_slave_config_t *sc, /**< Slave configuration. */
@ -526,6 +533,23 @@ int ecrt_slave_config_reg_pdo_entry(
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. */
);
/** Add an Sdo configuration.
*
* An Sdo configuration is stored in the slave configuration object and is
@ -623,6 +647,22 @@ int ecrt_domain_reg_pdo_entry_list(
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.

24
master/domain.c
View File

@ -401,6 +401,30 @@ int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
/*****************************************************************************/
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)
return -1;
*reg->offset = ret;
}
return 0;
}
/*****************************************************************************/
size_t ecrt_domain_size(ec_domain_t *domain)
{
return domain->data_size;

36
master/slave_config.c
View File

@ -193,10 +193,11 @@ void ec_slave_config_clear(struct kobject *kobj /**< kobject of the config. */)
* is written to the slave during the configuration. The FMMU configuration
* is done in a way, that the complete data range of the corresponding sync
* manager is covered. Seperate FMMUs are configured for each domain. If the
* FMMU configuration is already prepared, the function returns with success.
* FMMU configuration is already prepared, the function does nothing and
* returns with success.
*
* \retval >=0 Logical offset address.
* \retval -1 FMMU limit reached.
* \retval >=0 Success, logical offset byte address.
* \retval -1 Error, FMMU limit reached.
*/
int ec_slave_config_prepare_fmmu(
ec_slave_config_t *sc, /**< Slave configuration. */
@ -608,10 +609,34 @@ int ecrt_slave_config_reg_pdo_entry(
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_direction_t dir;
ec_pdo_list_t *pdos;
unsigned int bit_offset, byte_offset;
unsigned int bit_offset;
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
int ret;
@ -635,10 +660,9 @@ int ecrt_slave_config_reg_pdo_entry(
return -1;
found:
byte_offset = bit_offset / 8;
if ((ret = ec_slave_config_prepare_fmmu(sc, domain, dir)) < 0)
return -2;
return ret + byte_offset;
return ret * 8 + bit_offset;
}
/*****************************************************************************/