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Some improvements concerning bit_position.

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This commit is contained in:
Florian Pose
2008-05-30 08:56:47 +00:00
parent 48c078359d
commit e6f758b4de
3 changed files with 49 additions and 51 deletions
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83
include/ecrt.h
View File

@@ -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
* 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().
* - Pdo entry registration functions do not return a process data pointer,
* but an offset in the domain's process data. 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
@@ -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
* Pdo entries.
* be reached by specifying an explicit Pdo assignment/mapping and
* 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_INCOMPLETE, /**< Some of the registered Pdos were exchanged. */
EC_WC_COMPLETE /**< All registered Pdos were exchanged. */
EC_WC_ZERO = 0, /**< No registered process data were exchanged. */
EC_WC_INCOMPLETE, /**< Some of the registered process data were
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. */
uint8_t subindex; /**< Subindex of the Pdo entry to add to the
Pdo configuration. */
mapping. */
uint8_t subindex; /**< Subindex of the Pdo entry. */
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
offset in the process data. This can either be byte-
or bitwise, depending on whether
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. */
unsigned int *offset; /**< Pointer to a variable to store the Pdo entry's
(byte-)offset in the process data. */
unsigned int *bit_position; /** Pointer to a variable to store a bit
position (0-7) within the \a offset. Can be
NULL, in which case an error is raised if the
Pdo entry 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
* tells the master that the configuration phase is finished and the realtime
* operation will begin. The function allocates internal memory for the
* domains and calculates the logical FMMU addresses for domain members. It
* tells the master state machine that the bus configuration is now to be
* applied.
* This function tells the master that the configuration phase is finished and
* the realtime operation will begin. The function allocates internal memory
* for the domains and calculates the logical FMMU addresses for domain
* members. It tells the master state machine that the bus configuration is
* now to be 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
* entry. An error is raised, if the given entry is not mapped. Otherwise, the
* 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. 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.
* Searches the assigned Pdos for the given Pdo entry. An error is raised, if
* the given entry is not mapped. Otherwise, the 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. Optionally, the Pdo entry bit
* position (0-7) can be retrieved via the \a bit_position output parameter.
* This pointer may be \a NULL, in this case 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.
@@ -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 */
);

2
master/domain.c
View File

@@ -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;

15
master/slave_config.c
View File

@@ -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) {
*bitpos = bit_offset % 8;
} else if (bit_offset % 8) {
EC_ERR("Bytewise Pdo entry registration requested, but the result is "
"not byte-aligned.\n");
bit_pos = bit_offset % 8;
if (bit_position) {
*bit_position = bit_pos;
} else if (bit_pos) {
EC_ERR("Pdo entry 0x%04X:%X does not byte-align in config %u:%u.\n",
index, subindex, sc->alias, sc->position);
return -3;
}