Some improvements concerning bit_position.

include/ecrt.h

@@ -57,13 +57,12 @@
  *   offers the possibility to use a shared-memory region. Therefore,
  *   added the domain methods ecrt_domain_size() and
  *   ecrt_domain_external_memory().
- * - PDO registration functions do not return a process data pointer any
+ * - Pdo entry registration functions do not return a process data pointer,
- *   more. Instead an offset is returned by the funtion. In addition, an 
+ *   but an offset in the domain's process data. In addition, an optional bit
- *   optional bit position can be requested.
+ *   position can be requested. This was necessary for the external domain
- *   This was necessary for the external domain memory. An additional 
+ *   memory. An additional advantage is, that the returned offset is
- *   advantage is, that the returned offset is immediately valid. 
+ *   immediately valid. If the domain's process data is allocated internally,
- *   If the domain's process data is allocated internally, the start 
+ *   the start address can be retrieved with ecrt_domain_data().
- *   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
@@ -81,8 +80,8 @@
  *   renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
  *   to ecrt_slave_config_reg_pdo_entry().
  * - Removed ecrt_domain_register_pdo_range(), because it's functionality can
- *   be reached by specifying an explicit Pdo mapping and registering those
+ *   be reached by specifying an explicit Pdo assignment/mapping and
- *   Pdo entries.
+ *   registering the mapped Pdo entries.
  * - Added an Sdo access interface, working with Sdo requests. These can be
  *   scheduled for reading and writing during realtime operation.
  * - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.
@@ -126,7 +125,7 @@
 
 /*****************************************************************************/
 
-/** End of the Pdo list.
+/** End of the Pdo entry list.
  *
  * This is used in ecrt_slave_config_pdos().
  */
@@ -177,9 +176,10 @@ typedef struct  {
  * This is used in ec_domain_state_t.
  */
 typedef enum {
-    EC_WC_ZERO = 0,   /**< No Pdos were exchanged. */
+    EC_WC_ZERO = 0,   /**< No registered process data were exchanged. */
-    EC_WC_INCOMPLETE, /**< Some of the registered Pdos were exchanged. */
+    EC_WC_INCOMPLETE, /**< Some of the registered process data were
-    EC_WC_COMPLETE    /**< All registered Pdos were exchanged. */
+                        exchanged. */
+    EC_WC_COMPLETE    /**< All registered process data were exchanged. */
 } ec_wc_state_t;
 
 /*****************************************************************************/
@@ -195,7 +195,7 @@ typedef struct {
 
 /*****************************************************************************/
 
-/** Direction type for Pdo mapping functions.
+/** Direction type for Pdo assignment functions.
  */
 typedef enum {
     EC_DIR_OUTPUT, /**< Values written by the master. */
@@ -211,9 +211,8 @@ typedef enum {
  */
 typedef struct {
     uint16_t index; /**< Index of the Pdo entry to add to the Pdo
-                            configuration. */
+                            mapping. */
-    uint8_t subindex; /**< Subindex of the Pdo entry to add to the
+    uint8_t subindex; /**< Subindex of the Pdo entry. */
-                              Pdo configuration. */
     uint8_t bit_length; /**< Size of the Pdo entry in bit. */
 } ec_pdo_entry_info_t;
 
@@ -226,10 +225,11 @@ typedef struct {
  */
 typedef struct {
     ec_direction_t dir; /**< Pdo direction (input/output). */
-    uint16_t index; /**< Index of the Pdo to map. */
+    uint16_t index; /**< Index of the Pdo to assign. */
     unsigned int n_entries; /**< Number of Pdo entries in \a entries to map.
                               Zero means, that the default mapping shall be
-                              used. */
+                              used (this can only be done if the slave is
+                              present at bus configuration time). */
     ec_pdo_entry_info_t *entries; /**< Array of Pdo entries to map. This must
                                     contain at least \a n_entries values. */
 } ec_pdo_info_t;
@@ -248,14 +248,12 @@ typedef struct {
     uint32_t product_code; /**< Slave product code. */
     uint16_t index; /**< Pdo entry index. */
     uint8_t subindex; /**< Pdo entry subindex. */
-    unsigned int *offset; /**< Pointer to a variable to store the Pdo's
+    unsigned int *offset; /**< Pointer to a variable to store the Pdo entry's
-                       offset in the process data. This can either be byte-
+                       (byte-)offset in the process data. */
-                       or bitwise, depending on whether
+    unsigned int *bit_position; /** Pointer to a variable to store a bit 
-                       ecrt_domain_reg_pdo_entry_list() */
+                                 position (0-7) within the \a offset. Can be
-    unsigned int *bitposition; /** Pointer to variable to store a bit 
+                                 NULL, in which case an error is raised if the
-                                 position within the address. Can be NULL,
+                                 Pdo entry does not byte-align. */
-                                in which case an error is raised if the 
-                                PDO does not byte-align. */
 } ec_pdo_entry_reg_t;
 
 /*****************************************************************************/
@@ -357,12 +355,11 @@ ec_slave_config_t *ecrt_master_slave_config(
 
 /** Finishes the configuration phase and prepares for realtime mode.
  *
- * This function has to be called after all Pdo entries are registered. It
+ * This function tells the master that the configuration phase is finished and
- * tells the master that the configuration phase is finished and the realtime
+ * the realtime operation will begin. The function allocates internal memory
- * operation will begin. The function allocates internal memory for the
+ * for the domains and calculates the logical FMMU addresses for domain
- * domains and calculates the logical FMMU addresses for domain members. It
+ * members. It tells the master state machine that the bus configuration is
- * tells the master state machine that the bus configuration is now to be
+ * now to be applied.
- * applied.
  *
  * \attention After this function has been called, the realtime application is
  * in charge of cyclically calling ecrt_master_send() and
@@ -515,15 +512,15 @@ int ecrt_slave_config_pdos(
 
 /** Registers a Pdo entry for process data exchange in a domain.
  *
- * Searches the current Pdo assignment and Pdo mappings for the given Pdo
+ * Searches the assigned Pdos for the given Pdo entry. An error is raised, if
- * entry. An error is raised, if the given entry is not mapped. Otherwise, the
+ * the given entry is not mapped. Otherwise, the corresponding sync manager
- * corresponding sync manager and FMMU configurations are provided for slave
+ * and FMMU configurations are provided for slave configuration and the
- * configuration and the respective sync manager's assigned Pdos are appended
+ * respective sync manager's assigned Pdos are appended to the given domain,
- * to the given domain, if not already done. The offset of the requested Pdo
+ * if not already done. The offset of the requested Pdo entry's data inside
- * entry's data inside the domain's process data is returned. Optionally, the
+ * the domain's process data is returned. Optionally, the Pdo entry bit
- * Pdo entry bit position can be retrieved if a non-null pointer is passed
+ * position (0-7) can be retrieved via the \a bit_position output parameter.
- * to the \a bitposition parameter. If this is null, an error is raised if
+ * This pointer may be \a NULL, in this case an error is raised if the Pdo
- * the Pdo entry does not byte align.
+ * entry does not byte-align.
  *
  * \retval >=0 Success: Offset of the Pdo entry's process data.
  * \retval -1  Error: Pdo entry not found.
@@ -535,7 +532,7 @@ int ecrt_slave_config_reg_pdo_entry(
         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. */
-        unsigned int *bitposition /**< Optional address if bit addressing 
+        unsigned int *bit_position /**< Optional address if bit addressing 
                                  is desired */
         );
 

master/domain.c

@@ -390,7 +390,7 @@ int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
             return -1;
 
         if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
-                        reg->subindex, domain, reg->bitposition)) < 0)
+                        reg->subindex, domain, reg->bit_position)) < 0)
             return -1;
 
         *reg->offset = ret;

master/slave_config.c

@@ -608,12 +608,12 @@ int ecrt_slave_config_reg_pdo_entry(
         uint16_t index,
         uint8_t subindex,
         ec_domain_t *domain,
-        unsigned int *bitpos
+        unsigned int *bit_position
         )
 {
     ec_direction_t dir;
     ec_pdo_list_t *pdos;
-    unsigned int bit_offset;
+    unsigned int bit_offset, bit_pos;
     ec_pdo_t *pdo;
     ec_pdo_entry_t *entry;
     int sync_offset;
@@ -641,11 +641,12 @@ found:
     if (sync_offset < 0)
         return -2;
 
-    if (bitpos) {
+    bit_pos = bit_offset % 8;
-        *bitpos = bit_offset % 8;
+    if (bit_position) {
-    } else if (bit_offset % 8) {
+        *bit_position = bit_pos;
-        EC_ERR("Bytewise Pdo entry registration requested, but the result is "
+    } else if (bit_pos) {
-                "not byte-aligned.\n");
+        EC_ERR("Pdo entry 0x%04X:%X does not byte-align in config %u:%u.\n",
+                index, subindex, sc->alias, sc->position);
         return -3;
     }