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- optional preinit function per device to allow dynamic configuration (i.e. PDO mapping count)

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- FSOE parameters per device
This commit is contained in:
Sascha Ittner
2019-03-20 15:36:42 +01:00
parent a96288f155
commit 2e0a390242
8 changed files with 341 additions and 212 deletions
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9
src/lcec.h
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@@ -70,11 +70,16 @@ do { \
#define LCEC_IDN(type, set, block) (type | ((set & 0x07) << 12) | (block & 0x0fff))
#define LCEC_FSOE_MSG_LEN 6
#define LCEC_FSOE_CMD_LEN 1
#define LCEC_FSOE_CRC_LEN 2
#define LCEC_FSOE_CONNID_LEN 2
#define LCEC_FSOE_SIZE(ch_count, data_len) (LCEC_FSOE_CMD_LEN + ch_count * (data_len + LCEC_FSOE_CRC_LEN) + LCEC_FSOE_CONNID_LEN)
struct lcec_master;
struct lcec_slave;
typedef int (*lcec_slave_preinit_t) (struct lcec_slave *slave);
typedef int (*lcec_slave_init_t) (int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);
typedef void (*lcec_slave_cleanup_t) (struct lcec_slave *slave);
typedef void (*lcec_slave_rw_t) (struct lcec_slave *slave, long period);
@@ -183,6 +188,7 @@ typedef struct lcec_slave {
ec_slave_config_state_t state;
lcec_slave_dc_t *dc_conf;
lcec_slave_watchdog_t *wd_conf;
lcec_slave_preinit_t proc_preinit;
lcec_slave_init_t proc_init;
lcec_slave_cleanup_t proc_cleanup;
lcec_slave_rw_t proc_read;
@@ -195,6 +201,7 @@ typedef struct lcec_slave {
lcec_slave_sdoconf_t *sdo_config;
lcec_slave_idnconf_t *idn_config;
lcec_slave_modparam_t *modparams;
LCEC_CONF_FSOE_T fsoeConf;
unsigned int *fsoe_slave_offset;
unsigned int *fsoe_master_offset;
} lcec_slave_t;