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Changed Pdo entry registration function - return byte and bit positions

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This commit is contained in:
Richard Hacker
2008-05-30 07:11:27 +00:00
parent 3b4cae9626
commit 8e0484b1c4
3 changed files with 40 additions and 104 deletions
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67
include/ecrt.h
View File

@@ -57,14 +57,13 @@
* offers the possibility to use a shared-memory region. Therefore,
* 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 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().
* - PDO registration functions do not return a process data pointer any
* more. Instead an offset is returned by the funtion. In addition, an
* optional bit position can be requested.
* 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
@@ -240,8 +239,7 @@ 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() and
* ecrt_domain_reg_pdo_entry_list_bitwise() convenience functions.
* ecrt_domain_reg_pdo_entry_list()
*/
typedef struct {
uint16_t alias; /**< Slave alias address. */
@@ -253,8 +251,11 @@ typedef struct {
unsigned int *offset; /**< Pointer to a variable to store the Pdo's
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. */
ecrt_domain_reg_pdo_entry_list() */
unsigned int *bitposition; /** Pointer to variable to store a bit
position within the address. Can be NULL,
in which case an error is raised if the
PDO does not byte-align. */
} ec_pdo_entry_reg_t;
/*****************************************************************************/
@@ -519,7 +520,10 @@ int ecrt_slave_config_pdos(
* corresponding sync manager and FMMU configurations are provided for slave
* configuration and the respective sync manager's assigned Pdos are appended
* to the given domain, if not already done. The offset of the requested Pdo
* entry's data inside the domain's process data is returned.
* entry's data inside the domain's process data is returned. Optionally, the
* Pdo entry bit position can be retrieved if a non-null pointer is passed
* to the \a bitposition parameter. If this is null, an error is raised if
* the Pdo entry does not byte align.
*
* \retval >=0 Success: Offset of the Pdo entry's process data.
* \retval -1 Error: Pdo entry not found.
@@ -530,24 +534,9 @@ int ecrt_slave_config_reg_pdo_entry(
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. */
);
/** 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. */
ec_domain_t *domain, /**< Domain. */
unsigned int *bitposition /**< Optional address if bit addressing
is desired */
);
/** Add an Sdo configuration.
@@ -647,22 +636,6 @@ 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.

26
master/domain.c
View File

@@ -390,31 +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)) < 0)
return -1;
*reg->offset = ret;
}
return 0;
}
/*****************************************************************************/
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)
reg->subindex, domain, reg->bitposition)) < 0)
return -1;
*reg->offset = ret;

51
master/slave_config.c
View File

@@ -604,34 +604,11 @@ int ecrt_slave_config_pdos(ec_slave_config_t *sc, unsigned int n_infos,
/*****************************************************************************/
int ecrt_slave_config_reg_pdo_entry(
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. */
)
{
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_slave_config_t *sc,
uint16_t index,
uint8_t subindex,
ec_domain_t *domain,
unsigned int *bitpos
)
{
ec_direction_t dir;
@@ -639,7 +616,7 @@ int ecrt_slave_config_reg_pdo_entry_bitwise(
unsigned int bit_offset;
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
int ret;
int sync_offset;
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
pdos = &sc->pdos[dir];
@@ -660,10 +637,20 @@ int ecrt_slave_config_reg_pdo_entry_bitwise(
return -1;
found:
if ((ret = ec_slave_config_prepare_fmmu(sc, domain, dir)) < 0)
sync_offset = ec_slave_config_prepare_fmmu(sc, domain, dir);
if (sync_offset < 0)
return -2;
return ret * 8 + bit_offset;
}
if (bitpos) {
*bitpos = bit_offset % 8;
} else if (bit_offset % 8) {
EC_ERR("Bytewise Pdo entry registration requested, but the result is "
"not byte-aligned.\n");
return -3;
}
return sync_offset + bit_offset / 8;
/*****************************************************************************/