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ethercat
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Prefer EEPROM sync manager information for config.

This commit is contained in:
Florian Pose 2006-07-17 13:01:38 +00:00
parent a6045ba242
commit 0d76e9719b
5 changed files with 88 additions and 51 deletions
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6
master/fsm.c
View File

@ -1163,7 +1163,7 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
EC_ERR("Invalid sync manager configuration found!");
return;
}
ec_eeprom_sync_config(eeprom_sync,
ec_eeprom_sync_config(eeprom_sync, slave,
datagram->data + EC_SYNC_SIZE
* eeprom_sync->index);
}
@ -1176,14 +1176,14 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 1;
ec_eeprom_sync_config(&mbox_sync, datagram->data);
ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
mbox_sync.physical_start_address =
slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 1;
ec_eeprom_sync_config(&mbox_sync,
ec_eeprom_sync_config(&mbox_sync, slave,
datagram->data + EC_SYNC_SIZE);
}

96
master/master.c
View File

@ -772,11 +772,16 @@ void ec_sync_config(const ec_sync_t *sync, /**< sync manager */
*/
void ec_eeprom_sync_config(const ec_eeprom_sync_t *sync, /**< sync manager */
const ec_slave_t *slave, /**< EtherCAT slave */
uint8_t *data /**> configuration memory */
)
{
size_t sync_size;
sync_size = ec_slave_calc_eeprom_sync_size(slave, sync);
EC_WRITE_U16(data, sync->physical_start_address);
EC_WRITE_U16(data + 2, sync->length);
EC_WRITE_U16(data + 2, sync_size);
EC_WRITE_U8 (data + 4, sync->control_register);
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
@ -1130,7 +1135,8 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
if (ec_datagram_npwr(datagram, slave->station_address, 0x0800,
EC_SYNC_SIZE * slave->base_sync_count))
return -1;
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
memset(datagram->data, 0x00,
EC_SYNC_SIZE * slave->base_sync_count);
if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Resetting sync managers failed on slave %i!\n",
slave->ring_position);
@ -1139,11 +1145,27 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
}
// configure sync managers
if (type) { // known slave type, take type's SM information
// does the slave provide sync manager information?
if (!list_empty(&slave->eeprom_syncs)) {
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
if (ec_datagram_npwr(datagram, slave->station_address,
0x800 + eeprom_sync->index *
EC_SYNC_SIZE,
EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(eeprom_sync, slave, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
eeprom_sync->index, slave->ring_position);
return -1;
}
}
}
else if (type) { // known slave type, take type's SM information
for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
sync = type->sync_managers[j];
if (ec_datagram_npwr(datagram, slave->station_address,
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
return -1;
ec_sync_config(sync, slave, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
@ -1153,54 +1175,34 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
}
}
}
else if (slave->sii_mailbox_protocols) { // unknown type, but mailbox
// does the device supply SM configurations in its EEPROM?
if (!list_empty(&slave->eeprom_syncs)) {
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
EC_INFO("Sync manager %i...\n", eeprom_sync->index);
if (ec_datagram_npwr(datagram, slave->station_address,
0x800 + eeprom_sync->index *
EC_SYNC_SIZE,
EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(eeprom_sync, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
eeprom_sync->index, slave->ring_position);
return -1;
}
}
else { // no sync manager information; guess mailbox settings
mbox_sync.physical_start_address =
slave->sii_rx_mailbox_offset;
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 1;
if (ec_datagram_npwr(datagram, slave->station_address,
0x800,EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Setting sync manager 0 failed on slave %i!\n",
slave->ring_position);
return -1;
}
else { // no sync manager information; guess mailbox settings
mbox_sync.physical_start_address =
slave->sii_rx_mailbox_offset;
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 1;
if (ec_datagram_npwr(datagram, slave->station_address,
0x800,EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Setting sync manager 0 failed on slave %i!\n",
slave->ring_position);
return -1;
}
mbox_sync.physical_start_address =
slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 1;
if (ec_datagram_npwr(datagram, slave->station_address,
0x808, EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
mbox_sync.physical_start_address =
slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 1;
if (ec_datagram_npwr(datagram, slave->station_address,
0x808, EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Setting sync manager 1 failed on slave %i!\n",
slave->ring_position);
return -1;
}
}
EC_INFO("Mailbox configured for unknown slave %i\n",
slave->ring_position);
}
}
// change state to PREOP

3
master/master.h
View File

@ -152,7 +152,8 @@ int ec_master_bus_scan(ec_master_t *);
// misc.
void ec_master_clear_slaves(ec_master_t *);
void ec_sync_config(const ec_sync_t *, const ec_slave_t *, uint8_t *);
void ec_eeprom_sync_config(const ec_eeprom_sync_t *, uint8_t *);
void ec_eeprom_sync_config(const ec_eeprom_sync_t *, const ec_slave_t *,
uint8_t *);
void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *);
void ec_master_output_stats(ec_master_t *);

31
master/slave.c
View File

@ -1494,6 +1494,37 @@ size_t ec_slave_calc_sync_size(const ec_slave_t *slave, /**< EtherCAT slave */
return size;
}
/*****************************************************************************/
/**
Calculates the size of a sync manager by evaluating PDO sizes.
\return sync manager size
*/
uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *slave,
/**< EtherCAT slave */
const ec_eeprom_sync_t *sync
/**< sync manager */
)
{
ec_eeprom_pdo_t *pdo;
ec_eeprom_pdo_entry_t *pdo_entry;
uint16_t size;
if (sync->length) return sync->length;
size = 0;
list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
if (pdo->sync_manager != sync->index) continue;
list_for_each_entry(pdo_entry, &pdo->entries, list) {
size += pdo_entry->bit_length / 8;
}
}
return size;
}
/******************************************************************************
* Realtime interface
*****************************************************************************/

3
master/slave.h
View File

@ -326,6 +326,9 @@ int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
// misc.
size_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *,
const ec_eeprom_sync_t *);
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);