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implemnted el6900 support and fsoe transport

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This commit is contained in:
Sascha Ittner
2018-06-27 11:50:35 +02:00
parent 7d318a66d2
commit 0c9f7caea9
7 changed files with 422 additions and 112 deletions
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36
src/lcec_main.c
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@@ -165,8 +165,7 @@ static const lcec_typelist_t types[] = {
{ lcecSlaveTypeEL9515, LCEC_EL95xx_VID, LCEC_EL9515_PID, LCEC_EL95xx_PDOS, lcec_el95xx_init},
// FSoE devices
// TODO: PDO count
{ lcecSlaveTypeEL6900, LCEC_EL6900_VID, LCEC_EL6900_PID, -1, lcec_el6900_init},
{ lcecSlaveTypeEL6900, LCEC_EL6900_VID, LCEC_EL6900_PID, LCEC_EL6900_PDOS, lcec_el6900_init},
{ lcecSlaveTypeEL1904, LCEC_EL1904_VID, LCEC_EL1904_PID, LCEC_EL1904_PDOS, lcec_el1904_init},
{ lcecSlaveTypeEL2904, LCEC_EL2904_VID, LCEC_EL2904_PID, LCEC_EL2904_PDOS, lcec_el2904_init},
@@ -619,11 +618,7 @@ int lcec_parse_config(void) {
// normal slave
slave->vid = type->vid;
slave->pid = type->pid;
if (type->pdo_entry_count >= 0) {
slave->pdo_entry_count = type->pdo_entry_count;
} else {
slave->pdo_entry_count = slave_conf->pdoMappingCount;
}
slave->pdo_entry_count = type->pdo_entry_count + slave_conf->pdoMappingCount;
slave->proc_init = type->proc_init;
} else {
// generic slave
@@ -702,8 +697,6 @@ int lcec_parse_config(void) {
slave->modparams = modparams;
slave->dc_conf = NULL;
slave->wd_conf = NULL;
slave->fsoe_slave_offset = -1;
slave->fsoe_master_offset = -1;
// update master's POD entry count
master->pdo_entry_count += slave->pdo_entry_count;
@@ -1544,3 +1537,28 @@ LCEC_CONF_MODPARAM_VAL_T *lcec_modparam_get(struct lcec_slave *slave, int id) {
return NULL;
}
lcec_slave_t *lcec_slave_by_index(struct lcec_master *master, int index) {
lcec_slave_t *slave;
for (slave = master->first_slave; slave != NULL; slave = slave->next) {
if (slave->index == index) {
return slave;
}
}
return NULL;
}
void copy_fsoe_data(struct lcec_slave *slave, unsigned int slave_offset, unsigned int master_offset) {
lcec_master_t *master = slave->master;
uint8_t *pd = master->process_data;
if (slave->fsoe_slave_offset != NULL) {
memcpy(&pd[*(slave->fsoe_slave_offset)], &pd[slave_offset], LCEC_FSOE_MSG_LEN);
}
if (slave->fsoe_master_offset != NULL) {
memcpy(&pd[master_offset], &pd[*(slave->fsoe_master_offset)], LCEC_FSOE_MSG_LEN);
}
}