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Exported ecrt_slave_config_sdo(); added documentation.

This commit is contained in:
Florian Pose 2008-04-16 08:33:04 +00:00
parent 791aa6d3d1
commit e9ff403255
3 changed files with 68 additions and 43 deletions
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2
NEWS
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@ -46,6 +46,8 @@ Changes in version 1.4.0:
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.
* Pdo configuration is now supported.
* Current Pdo mapping/configuration is now read via CoE during bus scan, using
direct Sdo access, independent of the dictionary.

30
include/ecrt.h
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@ -84,6 +84,7 @@
* 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.
*
* @{
*/
@ -541,9 +542,32 @@ int ecrt_slave_config_reg_pdo_entry(
ec_domain_t *domain /**< Domain. */
);
/** Add an Sdo configuration.
*
* An Sdo configuration is stored in the slave configuration object and is
* downloaded to the slave whenever the slave is being configured by the
* master. This usually happens once on master activation, but can be repeated
* subsequently, for example after the slave's power supply failed.
*
* This is the generic function for adding an Sdo configuration. Please note
* that the this function does not do any endianess correction. If
* datatype-specific functions are needed (that automatically correct the
* endianess), have a look at ecrt_slave_config_sdo8(),
* ecrt_slave_config_sdo16() and ecrt_slave_config_sdo32().
*
* \return 0 in case of success, else < 0
*/
int ecrt_slave_config_sdo(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< Index of the Sdo to configure. */
uint8_t subindex, /**< Subindex of the Sdo to configure. */
const uint8_t *data, /**< Pointer to the data. */
size_t size /**< Size of the \a data. */
);
/** Add a configuration value for an 8-bit SDO.
*
* \todo doc
* \see ecrt_slave_config_sdo().
* \return 0 in case of success, else < 0
*/
int ecrt_slave_config_sdo8(
@ -555,7 +579,7 @@ int ecrt_slave_config_sdo8(
/** Add a configuration value for a 16-bit SDO.
*
* \todo doc
* \see ecrt_slave_config_sdo().
* \return 0 in case of success, else < 0
*/
int ecrt_slave_config_sdo16(
@ -567,7 +591,7 @@ int ecrt_slave_config_sdo16(
/** Add a configuration value for a 32-bit SDO.
*
* \todo doc
* \see ecrt_slave_config_sdo().
* \return 0 in case of success, else < 0
*/
int ecrt_slave_config_sdo32(

79
master/slave_config.c
View File

@ -320,40 +320,6 @@ ssize_t ec_show_slave_config_attribute(
/*****************************************************************************/
/** Adds an Sdo configuration.
*/
int ec_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, const uint8_t *data, size_t size)
{
ec_slave_t *slave = sc->slave;
ec_sdo_request_t *req;
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
return -1;
}
if (!(req = (ec_sdo_request_t *)
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Sdo configuration!\n");
return -1;
}
ec_sdo_request_init(req);
ec_sdo_request_address(req, index, subindex);
if (ec_sdo_request_copy_data(req, data, size)) {
ec_sdo_request_clear(req);
kfree(req);
return -1;
}
list_add_tail(&req->list, &sc->sdo_configs);
return 0;
}
/*****************************************************************************/
/** Attaches the configuration to the addressed slave object.
*
* \retval 0 Success.
@ -677,32 +643,64 @@ found:
/*****************************************************************************/
int ecrt_slave_config_sdo8(ec_slave_config_t *slave, uint16_t index,
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, const uint8_t *data, size_t size)
{
ec_slave_t *slave = sc->slave;
ec_sdo_request_t *req;
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
return -1;
}
if (!(req = (ec_sdo_request_t *)
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Sdo configuration!\n");
return -1;
}
ec_sdo_request_init(req);
ec_sdo_request_address(req, index, subindex);
if (ec_sdo_request_copy_data(req, data, size)) {
ec_sdo_request_clear(req);
kfree(req);
return -1;
}
list_add_tail(&req->list, &sc->sdo_configs);
return 0;
}
/*****************************************************************************/
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint8_t value)
{
uint8_t data[1];
EC_WRITE_U8(data, value);
return ec_slave_config_sdo(slave, index, subindex, data, 1);
return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
}
/*****************************************************************************/
int ecrt_slave_config_sdo16(ec_slave_config_t *slave, uint16_t index,
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint16_t value)
{
uint8_t data[2];
EC_WRITE_U16(data, value);
return ec_slave_config_sdo(slave, index, subindex, data, 2);
return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
}
/*****************************************************************************/
int ecrt_slave_config_sdo32(ec_slave_config_t *slave, uint16_t index,
int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint32_t value)
{
uint8_t data[4];
EC_WRITE_U32(data, value);
return ec_slave_config_sdo(slave, index, subindex, data, 4);
return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
}
/*****************************************************************************/
@ -745,6 +743,7 @@ EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_clear);
EXPORT_SYMBOL(ecrt_slave_config_pdos);
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
EXPORT_SYMBOL(ecrt_slave_config_sdo);
EXPORT_SYMBOL(ecrt_slave_config_sdo8);
EXPORT_SYMBOL(ecrt_slave_config_sdo16);
EXPORT_SYMBOL(ecrt_slave_config_sdo32);