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ethercat
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First feature flag: AssignToPdi.

This commit is contained in:
Florian Pose 2021-07-23 16:16:18 +02:00
parent 443a7ad3e3
commit 441b7e470e
2 changed files with 93 additions and 5 deletions
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62
master/fsm_master.c
View File

@ -62,6 +62,7 @@ void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);
void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);
void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);
void ec_fsm_master_state_assign_sii(ec_fsm_master_t *);
void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
@ -439,6 +440,9 @@ int ec_fsm_master_action_process_sii(
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request;
ec_slave_config_t *config;
ec_flag_t *flag;
int assign_to_pdi;
// search the first request to be processed
while (1) {
@ -451,6 +455,27 @@ int ec_fsm_master_action_process_sii(
list_del_init(&request->list); // dequeue
request->state = EC_INT_REQUEST_BUSY;
assign_to_pdi = 0;
config = request->slave->config;
if (config) {
flag = ec_slave_config_find_flag(config, "AssignToPdi");
if (flag) {
assign_to_pdi = flag->value;
}
}
if (assign_to_pdi) {
fsm->sii_request = request;
EC_SLAVE_DBG(request->slave, 1,
"Assigning SII back to EtherCAT.\n");
ec_datagram_fpwr(fsm->datagram, request->slave->station_address,
0x0500, 0x01);
EC_WRITE_U8(fsm->datagram->data, 0x00); // EtherCAT
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_assign_sii;
return 1;
}
// found pending SII write operation. execute it!
EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");
fsm->sii_request = request;
@ -1173,6 +1198,43 @@ void ec_fsm_master_state_dc_write_offset(
/*****************************************************************************/
/** Master state: ASSIGN SII.
*/
void ec_fsm_master_state_assign_sii(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_sii_write_request_t *request = fsm->sii_request;
ec_slave_t *slave = request->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_ERR(slave, "Failed to receive SII assignment datagram: ");
ec_datagram_print_state(datagram);
goto cont;
}
if (datagram->working_counter != 1) {
EC_SLAVE_ERR(slave, "Failed to assign SII back to EtherCAT: ");
ec_datagram_print_wc_error(datagram);
goto cont;
}
cont:
// found pending SII write operation. execute it!
EC_SLAVE_DBG(slave, 1, "Writing SII data (after assignment)...\n");
fsm->sii_index = 0;
ec_fsm_sii_write(&fsm->fsm_sii, slave, request->offset,
request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fsm->state = ec_fsm_master_state_write_sii;
fsm->state(fsm); // execute immediately
}
/*****************************************************************************/
/** Master state: WRITE SII.
*/
void ec_fsm_master_state_write_sii(

36
master/fsm_slave_config.c
View File

@ -703,6 +703,11 @@ void ec_fsm_slave_config_state_boot_preop(
)
{
ec_slave_t *slave = fsm->slave;
#ifdef EC_SII_ASSIGN
int assign_to_pdi;
ec_slave_config_t *config;
ec_flag_t *flag;
#endif
if (ec_fsm_change_exec(fsm->fsm_change)) {
return;
@ -722,12 +727,33 @@ void ec_fsm_slave_config_state_boot_preop(
slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT");
#ifdef EC_SII_ASSIGN
EC_SLAVE_DBG(slave, 1, "Assigning SII access back to EtherCAT.\n");
assign_to_pdi = 0;
config = fsm->slave->config;
if (config) {
flag = ec_slave_config_find_flag(config, "AssignToPdi");
if (flag) {
assign_to_pdi = flag->value;
}
}
ec_datagram_fpwr(fsm->datagram, slave->station_address, 0x0500, 0x01);
EC_WRITE_U8(fsm->datagram->data, 0x00); // EtherCAT
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_assign_ethercat;
if (assign_to_pdi) {
EC_SLAVE_DBG(slave, 1, "Skipping SII assignment back to EtherCAT.\n");
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
return;
}
ec_fsm_slave_config_enter_sdo_conf(fsm);
}
else {
EC_SLAVE_DBG(slave, 1, "Assigning SII access back to EtherCAT.\n");
ec_datagram_fpwr(fsm->datagram, slave->station_address, 0x0500, 0x01);
EC_WRITE_U8(fsm->datagram->data, 0x00); // EtherCAT
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_assign_ethercat;
}
#else
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful