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External domain memory.

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This commit is contained in:
Florian Pose
2008-02-21 15:49:02 +00:00
parent 69f702dc92
commit 7db358b508
8 changed files with 321 additions and 182 deletions
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include/ecrt.h
+23 -11
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@@ -55,13 +55,14 @@
* ecrt_slave_config_state().
* - Process data memory for a domain can now be allocated externally. This
* offers the possibility to use a shared-memory-region. Therefore,
* added the domain methods ecrt_domain_size() and ecrt_domain_memory().
* 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. The domain's process data offset can be retrieved
* with ecrt_domain_data().
* is directly usable. 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_mapping() that is now able to specify Pdo mapping and
* Pdo configuration. Pdo entries mapped in this way can now immediately be
@@ -241,7 +242,7 @@ typedef struct {
uint32_t product_code; /**< Slave product code. */
uint16_t index; /**< Pdo entry index. */
uint8_t subindex; /**< Pdo entry subindex. */
uint8_t *offset; /**< Pointer to a variable to store the Pdo's
unsigned int *offset; /**< Pointer to a variable to store the Pdo's
offset in the process data. */
} ec_pdo_entry_reg_t;
@@ -503,21 +504,32 @@ size_t ecrt_domain_size(
ec_domain_t *domain /**< Domain. */
);
/** Provide memory to store the domain's process data.
/** Provide external memory to store the domain's process data.
*
* Call this after all Pdo entries have been registered. Since interface
* version 1.4, you'll have to provide an external memory for the domain
* process data.
* Call this after all Pdo entries have been registered and before activating
* the master.
*
* The size of the allocated memory must be at least the return value of
* ecrt_domain_size(), after all Pdo entries have been registered.
* The size of the allocated memory must be at least ecrt_domain_size(), after
* all Pdo entries have been registered.
*/
void ecrt_domain_memory(
void ecrt_domain_external_memory(
ec_domain_t *domain, /**< Domain. */
uint8_t *memory /**< Address of the memory to store the process
data in. */
);
/** Returns the domain's process data.
*
* If external memory was provided with ecrt_domain_external_memory(), the
* returned pointer will contain the address of that memory. Otherwise it will
* point to the internally allocated memory.
*
* \return Pointer to the process data memory.
*/
uint8_t *ecrt_domain_data(
ec_domain_t *domain /**< Domain. */
);
/** Processes received datagrams.
*
* \todo doc