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ethercat
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Introduced ec_datagram_zero().

This commit is contained in:
Florian Pose 2008-09-30 07:34:55 +00:00
parent 186185dce4
commit 64e1d6f678
10 changed files with 37 additions and 8 deletions
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2
NEWS
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@ -7,6 +7,8 @@ $Id$
Changes since 1.4.0:
* Added VoE protocol support.
* Separated datagram initialization from filling the payload with zeros.
Introduced new method ec_datagram_zero() for that.
* Added phy_read and phy_write commands to ethercat tool.
Changes in version 1.4.0-rc2:

10
master/datagram.c
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@ -56,7 +56,6 @@
#define EC_FUNC_FOOTER \
datagram->data_size = data_size; \
memset(datagram->data, 0x00, data_size); \
return 0;
/** \endcond */
@ -161,6 +160,15 @@ int ec_datagram_prealloc(
/*****************************************************************************/
/** Fills the datagram payload memory with zeros.
*/
void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */)
{
memset(datagram->data, 0x00, datagram->data_size);
}
/*****************************************************************************/
/** Initializes an EtherCAT APRD datagram.
*
* \return 0 in case of success, else < 0

1
master/datagram.h
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@ -125,6 +125,7 @@ typedef struct {
void ec_datagram_init(ec_datagram_t *);
void ec_datagram_clear(ec_datagram_t *);
int ec_datagram_prealloc(ec_datagram_t *, size_t);
void ec_datagram_zero(ec_datagram_t *);
int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t);

1
master/domain.c
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@ -177,6 +177,7 @@ int ec_domain_add_datagram(
domain->expected_working_counter = used[EC_DIR_INPUT];
}
ec_datagram_zero(datagram);
list_add_tail(&datagram->list, &domain->datagrams);
return 0;
}

5
master/fsm_change.c
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@ -223,6 +223,7 @@ void ec_fsm_change_state_check(ec_fsm_change_t *fsm
// read AL status from slave
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->spontaneous_change = 0;
fsm->state = ec_fsm_change_state_status;
@ -299,6 +300,7 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
req_state, slave->ring_position, cur_state);
// fetch AL status error code
ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_change_state_code;
return;
@ -319,6 +321,7 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
check_again:
// no timeout yet. check again
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
}
@ -457,6 +460,7 @@ void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)
// read new AL status
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_change_state_check_ack;
}
@ -525,6 +529,7 @@ void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
// reread new AL status
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
}

4
master/fsm_master.c
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@ -165,6 +165,7 @@ void ec_fsm_master_state_start(
{
fsm->idle = 1;
ec_datagram_brd(fsm->datagram, 0x0130, 2);
ec_datagram_zero(fsm->datagram);
fsm->state = ec_fsm_master_state_broadcast;
}
@ -276,6 +277,7 @@ void ec_fsm_master_state_broadcast(
fsm->slave = master->slaves;
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
0x0130, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_state;
} else {
@ -356,6 +358,7 @@ int ec_fsm_master_action_process_phy(
if (request->dir == EC_DIR_INPUT) {
ec_datagram_fprd(fsm->datagram, request->slave->station_address,
request->offset, request->length);
ec_datagram_zero(fsm->datagram);
} else {
if (request->length > fsm->datagram->mem_size) {
EC_ERR("Request length (%u) exceeds maximum datagram size (%u)!\n",
@ -541,6 +544,7 @@ void ec_fsm_master_action_next_slave_state(
fsm->idle = 1;
ec_datagram_fprd(fsm->datagram,
fsm->slave->station_address, 0x0130, 2);
ec_datagram_zero(fsm->datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_state;
return;

2
master/fsm_sii.c
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@ -241,6 +241,7 @@ void ec_fsm_sii_state_read_check(
break;
}
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_read_fetch;
}
@ -381,6 +382,7 @@ void ec_fsm_sii_state_write_check(
// issue check datagram
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_write_check2;
}

11
master/fsm_slave_config.c
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@ -218,7 +218,7 @@ void ec_fsm_slave_config_state_init(
// clear FMMU configurations
ec_datagram_fpwr(datagram, slave->station_address,
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_clear_fmmus;
}
@ -295,8 +295,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
if (slave->sii.sync_count >= 2) { // mailbox configuration provided
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
memset(datagram->data, 0x00,
EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
ec_datagram_zero(datagram);
for (i = 0; i < 2; i++) {
ec_sync_page(&slave->sii.syncs[i], i,
@ -314,7 +313,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * 2);
memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
ec_datagram_zero(datagram);
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.rx_mailbox_offset;
@ -553,7 +552,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
ec_datagram_fpwr(datagram, slave->station_address,
0x0800 + EC_SYNC_PAGE_SIZE * offset,
EC_SYNC_PAGE_SIZE * num_pdo_syncs);
memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
ec_datagram_zero(datagram);
for (i = 0; i < num_pdo_syncs; i++) {
sync_index = i + offset;
@ -633,7 +632,7 @@ void ec_fsm_slave_config_enter_fmmu(
// configure FMMUs
ec_datagram_fpwr(datagram, slave->station_address,
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
ec_datagram_zero(datagram);
for (i = 0; i < slave->config->used_fmmus; i++) {
fmmu = &slave->config->fmmu_configs[i];
if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {

3
master/fsm_slave_scan.c
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@ -203,6 +203,7 @@ void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *fsm /**< slave state m
// Read AL state
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_state;
}
@ -250,6 +251,7 @@ void ec_fsm_slave_scan_state_state(
// read base data
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_base;
}
@ -299,6 +301,7 @@ void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *fsm /**< slave state mach
// read data link status
ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_datalink;
}

6
master/mailbox.c
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@ -100,6 +100,7 @@ int ec_slave_mbox_prepare_check(const ec_slave_t *slave, /**< slave */
if (ec_datagram_fprd(datagram, slave->station_address, 0x808, 8))
return -1;
ec_datagram_zero(datagram);
return 0;
}
@ -128,7 +129,10 @@ int ec_slave_mbox_prepare_fetch(const ec_slave_t *slave, /**< slave */
{
if (ec_datagram_fprd(datagram, slave->station_address,
slave->sii.tx_mailbox_offset,
slave->sii.tx_mailbox_size)) return -1;
slave->sii.tx_mailbox_size))
return -1;
ec_datagram_zero(datagram);
return 0;
}