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ethercat
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Use ESC port order (0-3-1-2) for bus topology and DC delay calculation

This commit is contained in:
Martin Troxler 2010-11-16 15:32:27 +01:00
parent 48207d44c3
commit 57b57fe71d
3 changed files with 102 additions and 41 deletions
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4
master/fsm_master.c
View File

@ -48,7 +48,11 @@
/** Time difference [ns] to tolerate without setting a new system time offset.
*/
#ifdef EC_HAVE_CYCLES
#define EC_SYSTEM_TIME_TOLERANCE_NS 10000
#else
#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000
#endif
/*****************************************************************************/

11
master/master.c
View File

@ -1814,7 +1814,8 @@ int ec_master_calc_topology_rec(
slave->ports[0].next_slave = port0_slave;
for (i = 1; i < EC_MAX_PORTS; i++) {
i = 3;
while (i != 0) {
if (!slave->ports[i].link.loop_closed) {
*slave_position = *slave_position + 1;
if (*slave_position < master->slave_count) {
@ -1827,6 +1828,14 @@ int ec_master_calc_topology_rec(
return -1;
}
}
switch (i)
{
case 0: i = 3; break;
case 1: i = 2; break;
case 3: i = 1; break;
case 2:
default:i = 0; break;
}
}
return 0;

128
master/slave.c
View File

@ -801,6 +801,59 @@ void ec_slave_attach_pdo_names(
}
}
/*****************************************************************************/
/** returns the previous connected port of a given port.
*/
unsigned int ec_slave_get_previous_port(
ec_slave_t *slave, /**< EtherCAT slave. */
unsigned int i /**< Port index */
)
{
do
{
switch (i)
{
case 0: i = 2; break;
case 1: i = 3; break;
case 2: i = 1; break;
case 3:
default:i = 0; break;
}
if (slave->ports[i].next_slave)
return i;
} while (i);
return 0;
}
/*****************************************************************************/
/** returns the next connected port of a given port.
*/
unsigned int ec_slave_get_next_port(
ec_slave_t *slave, /**< EtherCAT slave. */
unsigned int i /**< Port index */
)
{
do
{
switch (i)
{
case 0: i = 3; break;
case 1: i = 2; break;
case 3: i = 1; break;
case 2:
default:i = 0; break;
}
if (slave->ports[i].next_slave)
return i;
} while (i);
return 0;
}
/*****************************************************************************/
/** Calculates the sum of round-trip-times of connected ports 1-3.
@ -810,13 +863,11 @@ uint32_t ec_slave_calc_rtt_sum(
)
{
uint32_t rtt_sum = 0, rtt;
unsigned int i;
for (i = 1; i < EC_MAX_PORTS; i++) {
if (slave->ports[i].next_slave) {
rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
rtt_sum += rtt;
}
unsigned int i = ec_slave_get_next_port(slave,0);
while (i != 0) {
rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
rtt_sum += rtt;
i = ec_slave_get_next_port(slave,i);
}
return rtt_sum;
@ -830,20 +881,21 @@ ec_slave_t *ec_slave_find_next_dc_slave(
ec_slave_t *slave /**< EtherCAT slave. */
)
{
unsigned int i;
ec_slave_t *dc_slave = NULL;
if (slave->base_dc_supported) {
dc_slave = slave;
} else {
unsigned int i;
for (i = 1; i < EC_MAX_PORTS; i++) {
i = ec_slave_get_next_port(slave,0);
while (i != 0) {
ec_slave_t *next = slave->ports[i].next_slave;
if (next) {
dc_slave = ec_slave_find_next_dc_slave(next);
if (dc_slave)
break;
}
i = ec_slave_get_next_port(slave,i);
}
}
@ -859,32 +911,30 @@ void ec_slave_calc_port_delays(
)
{
unsigned int i;
ec_slave_t *next, *next_dc;
ec_slave_t *next_dc;
uint32_t rtt, next_rtt_sum;
if (!slave->base_dc_supported)
return;
for (i = 1; i < EC_MAX_PORTS; i++) {
next = slave->ports[i].next_slave;
if (!next)
continue;
next_dc = ec_slave_find_next_dc_slave(next);
if (!next_dc)
continue;
i = ec_slave_get_next_port(slave,0);
while (i != 0) {
next_dc = ec_slave_find_next_dc_slave(slave->ports[i].next_slave);
if (next_dc) {
rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
#if 0
EC_SLAVE_DBG(slave, 1, "delay %u:%u rtt=%u"
" next_rtt_sum=%u delay=%u\n",
slave->ring_position, i, rtt, next_rtt_sum,
slave->ports[i].delay_to_next_dc);
EC_SLAVE_DBG(slave, 1, "delay %u:%u rtt=%u"
" next_rtt_sum=%u delay=%u\n",
slave->ring_position, i, rtt, next_rtt_sum,
slave->ports[i].delay_to_next_dc);
#endif
}
i = ec_slave_get_next_port(slave,i);
}
}
@ -898,28 +948,26 @@ void ec_slave_calc_transmission_delays_rec(
)
{
unsigned int i;
ec_slave_t *next, *next_dc;
ec_slave_t *next_dc;
#if 0
#if 1
EC_SLAVE_DBG(slave, 1, "%u\n", *delay);
#endif
slave->transmission_delay = *delay;
for (i = 1; i < EC_MAX_PORTS; i++) {
i = ec_slave_get_next_port(slave,0);
while (i != 0) {
ec_slave_port_t *port = &slave->ports[i];
next = port->next_slave;
if (!next)
continue;
next_dc = ec_slave_find_next_dc_slave(next);
if (!next_dc)
continue;
*delay = *delay + port->delay_to_next_dc;
next_dc = ec_slave_find_next_dc_slave(port->next_slave);
if (next_dc) {
*delay = *delay + port->delay_to_next_dc;
#if 0
EC_SLAVE_DBG(slave, 1, "%u:%u %u\n", slave->ring_position, i, *delay);
EC_SLAVE_DBG(slave, 1, "%u:%u %u\n", slave->ring_position, i, *delay);
#endif
ec_slave_calc_transmission_delays_rec(next_dc, delay);
ec_slave_calc_transmission_delays_rec(next_dc, delay);
}
i = ec_slave_get_next_port(slave,i);
}
*delay = *delay + slave->ports[0].delay_to_next_dc;