New io design

src/lib/rt/src/os_linux/rt_io_m_pb_dp_slave.c

@@ -25,6 +25,7 @@
 #include "rt_errh.h"
 #include "co_cdh.h"
 #include "rt_io_profiboard.h"
+#include "rt_pb_msg.h"
 
 
 /*----------------------------------------------------------------------------*\
@@ -47,8 +48,10 @@ static pwr_tStatus IoRackInit (
   pwr_sClass_Pb_Ao *aop;
   pwr_sClass_Pb_Ii *iip;
   pwr_sClass_Pb_Io *iop;
+  pwr_sClass_Pb_Module *mp;
   char name[196];
   pwr_tStatus sts;
+  pwr_tCid cid;
 
   sts = gdh_ObjidToName(rp->Objid, (char *) &name, sizeof(name), cdh_mNName);
   errh_Info( "Init of Profibus DP Slave and modules %s", name);
@@ -68,7 +71,10 @@ static pwr_tStatus IoRackInit (
     local_card->input_area = (void *) &(op->Inputs);
     local_card->output_area = (void *) &(op->Outputs);
 
-    switch (cardp->Class) {
+    cid = cardp->Class;
+    while ( ODD( gdh_GetSuperClass( cid, &cid, cardp->Objid))) ;
+
+    switch (cid) {
 
       case pwr_cClass_Pb_Di:
         dip = (pwr_sClass_Pb_Di *) cardp->op;
@@ -117,6 +123,14 @@ static pwr_tStatus IoRackInit (
         output_counter += iop->BytesOfOutput;
         iop->Status = PB_MODULE_STATE_OPERATE;
         break;
+
+      case pwr_cClass_Pb_Module:
+        mp = (pwr_sClass_Pb_Module *) cardp->op;
+//        iop->OffsetOutputs = output_counter;
+//        iop->BytesOfOutput = iop->NumberOfChannels * iop->BytesPerChannel;
+//        output_counter += iop->BytesOfOutput;
+        mp->Status = PB__SUCCESS;
+        break;
     }
 
     op->NumberModules++;

src/lib/rt/src/os_linux/rt_io_m_ssab_aiup.c

@@ -113,7 +113,8 @@ static pwr_tStatus IoCardInit (
   chanp = cp->chanlist;
   for  ( i = 0; i < cp->ChanListSize; i++)
   {
-    AiRangeToCoef( chanp);
+    if ( chanp->sop)
+      AiRangeToCoef( chanp);
     chanp++;
   }
 
@@ -168,7 +169,7 @@ static pwr_tStatus IoCardRead (
   chanp = &cp->chanlist[0];
   for ( i = 0; i < cp->ChanListSize; i++)
   { 
-    if ( !chanp->cop)
+    if ( !chanp->cop || !chanp->sop)
     {
       chanp++;
       continue;

src/lib/rt/src/os_linux/rt_io_m_ssab_aoup.c

@@ -125,7 +125,8 @@ static pwr_tStatus IoCardInit (
   chanp = cp->chanlist;
   for  ( i = 0; i < cp->ChanListSize; i++)
   {
-    AoRangeToCoef( chanp);
+    if ( chanp->sop)
+      AoRangeToCoef( chanp);
     chanp++;
   }
 
@@ -186,7 +187,7 @@ static pwr_tStatus IoCardWrite (
   chanp = &cp->chanlist[0];
   for ( i = 0; i < cp->ChanListSize; i++)
   { 
-    if ( !chanp->cop)
+    if ( !chanp->cop || !chanp->sop)
     {
       chanp++;
       continue;

src/lib/rt/src/os_linux/rt_io_m_ssab_co.c

@@ -78,7 +78,7 @@ static pwr_tStatus IoCardInit (
   /* Configure card */
   for ( i = 0; i < op->MaxNoOfCounters; i++)
   {
-    if ( !cp->chanlist[i].cop)
+    if ( !cp->chanlist[i].cop || !cp->chanlist[i].sop)
       continue;
 
     wr_data_p = (pwr_tUInt32 *) &wr_data;
@@ -182,7 +182,7 @@ static pwr_tStatus IoCardRead (
 
   for ( i = 0; i < op->MaxNoOfCounters; i++)
   { 
-    if ( !cp->chanlist[i].cop)
+    if ( !cp->chanlist[i].cop || !cp->chanlist[i].sop)
       continue;
 
     if ( op->ConvMask & (1 << i))

src/lib/rt/src/os_linux/rt_io_pb_locals.h

-#define IO_MAXCHAN 32
+#define IO_MAXCHAN 96
 
 #define PB_MODULE_STATE_NOTINIT 0
 #define PB_MODULE_STATE_OPERATE 1