bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Support for slaves that don't support the LRW datagram type.

This commit is contained in:
Florian Pose 2008-02-22 16:04:23 +00:00
parent 1bb9697a15
commit 49baa165af
3 changed files with 41 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
NEWS
View File

@ -43,6 +43,8 @@ Changes in version 1.4.0:
* Pdo configuration is now supported.
* Added 8139too driver for kernel 2.6.22, thanks to Erwin Burgstaller.
* Added e1000 driver for kernel 2.6.22.
* Added support for slaves that do not support the LRW datagram type. Separate
domains have to be used for inputs and output.
* Allow gaps in PDO mapping read from CoE.
* Fixed bug in CoE code.
* Improved handling of large EEPROM contents.

1
TODO
View File

@ -21,7 +21,6 @@ Version 1.4.0:
* READMEs for examples.
* Calculate expected working counter for domains.
* Distributed clocks.
* Support slaves, that don't support the LRW datagram, only LRD/LWR.
Future issues:

48
master/domain.c
View File

@ -190,7 +190,8 @@ int ec_domain_add_datagram(
ec_domain_t *domain, /**< EtherCAT domain. */
uint32_t logical_offset, /**< Logical offset. */
size_t data_size, /**< Size of the data. */
uint8_t *data /**< Process data. */
uint8_t *data, /**< Process data. */
const unsigned int used[] /**< Used by inputs/outputs. */
)
{
ec_datagram_t *datagram;
@ -204,9 +205,21 @@ int ec_domain_add_datagram(
snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,
"domain%u-%u", domain->index, logical_offset);
if (ec_datagram_lrw(datagram, logical_offset, data_size, data)) {
kfree(datagram);
return -1;
if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs
if (ec_datagram_lrw(datagram, logical_offset, data_size, data)) {
kfree(datagram);
return -1;
}
} else if (used[EC_DIR_OUTPUT]) { // outputs only
if (ec_datagram_lwr(datagram, logical_offset, data_size, data)) {
kfree(datagram);
return -1;
}
} else { // inputs only (or nothing)
if (ec_datagram_lrd(datagram, logical_offset, data_size, data)) {
kfree(datagram);
return -1;
}
}
list_add_tail(&datagram->list, &domain->datagrams);
@ -233,8 +246,10 @@ int ec_domain_finish(
uint32_t datagram_offset;
size_t datagram_size;
unsigned int datagram_count, i;
unsigned int datagram_used[2];
ec_slave_config_t *sc;
ec_fmmu_config_t *fmmu;
const ec_datagram_t *datagram;
domain->logical_base_address = base_address;
@ -252,6 +267,9 @@ int ec_domain_finish(
datagram_offset = 0;
datagram_size = 0;
datagram_count = 0;
datagram_used[EC_DIR_OUTPUT] = 0;
datagram_used[EC_DIR_INPUT] = 0;
list_for_each_entry(sc, &domain->master->configs, list) {
for (i = 0; i < sc->used_fmmus; i++) {
fmmu = &sc->fmmu_configs[i];
@ -261,16 +279,22 @@ int ec_domain_finish(
// Correct logical FMMU address
fmmu->logical_start_address += base_address;
// Increment Input/Output counter
datagram_used[fmmu->dir]++;
// If the current FMMU's data do not fit in the current datagram,
// allocate a new one.
if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) {
if (ec_domain_add_datagram(domain,
domain->logical_base_address + datagram_offset,
datagram_size, domain->data + datagram_offset))
datagram_size, domain->data + datagram_offset,
datagram_used))
return -1;
datagram_offset += datagram_size;
datagram_size = 0;
datagram_count++;
datagram_used[EC_DIR_OUTPUT] = 0;
datagram_used[EC_DIR_INPUT] = 0;
}
datagram_size += fmmu->data_size;
@ -281,14 +305,20 @@ int ec_domain_finish(
if (datagram_size) {
if (ec_domain_add_datagram(domain,
domain->logical_base_address + datagram_offset,
datagram_size, domain->data + datagram_offset))
datagram_size, domain->data + datagram_offset,
datagram_used))
return -1;
datagram_count++;
}
EC_INFO("Domain %u with logical offset %u contains %u bytes in %u"
" datagram%s.\n", domain->index, domain->logical_base_address,
domain->data_size, datagram_count, datagram_count == 1 ? "" : "s");
EC_INFO("Domain %u with logical offset %u contains %u bytes.\n",
domain->index, domain->logical_base_address, domain->data_size);
list_for_each_entry(datagram, &domain->datagrams, list) {
EC_INFO(" Datagram %s, logical offset %u, size %u, type %s.\n",
datagram->name, EC_READ_U32(datagram->address),
datagram->data_size, ec_datagram_type_string(datagram));
}
return 0;
}