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ethercat
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Plugfest: Configure mailbox for unknown slaves.

This commit is contained in:
Florian Pose 2006-04-05 08:58:00 +00:00
parent 586cfd3584
commit 7bd5f4dfb5
2 changed files with 60 additions and 15 deletions
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69
master/master.c
View File

@ -116,7 +116,7 @@ void ec_master_reset(ec_master_t *master
master->command_index = 0;
master->debug_level = 0;
master->timeout = 100; // us
master->timeout = 500; // 500us
master->slaves_responding = 0;
master->slave_states = EC_SLAVE_STATE_UNKNOWN;
@ -790,7 +790,7 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
const ec_fmmu_t *fmmu;
uint32_t domain_offset;
ec_domain_t *domain;
ec_eeprom_sync_t *eeprom_sync;
ec_eeprom_sync_t *eeprom_sync, mbox_sync;
command = &master->simple_command;
@ -852,6 +852,8 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
}
// Set Sync Managers
// Known slave type, take type's SM information
if (type) {
for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++)
{
@ -867,18 +869,59 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
}
}
}
else if (slave->sii_mailbox_protocols) { // Unknown slave, has mailbox
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
if (ec_command_npwr(command, slave->station_address,
0x800 + eeprom_sync->index * EC_SYNC_SIZE,
EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(eeprom_sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
eeprom_sync->index, slave->ring_position);
return -1;
}
// Unknown slave type, but has mailbox
else if (slave->sii_mailbox_protocols) {
// 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_command_npwr(command, slave->station_address,
0x800 + eeprom_sync->index *
EC_SYNC_SIZE,
EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(eeprom_sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
eeprom_sync->index, slave->ring_position);
return -1;
}
}
}
// No sync manager information; guess mailbox settings
else {
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_command_npwr(command, slave->station_address,
0x800,EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
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_command_npwr(command, slave->station_address,
0x808, EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
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

6
master/slave.c
View File

@ -88,8 +88,8 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
ec_eeprom_sync_t *sync, *next_sync;
ec_eeprom_pdo_t *pdo, *next_pdo;
ec_eeprom_pdo_entry_t *entry, *next_ent;
ec_sdo_t *sdo, *next_sdo;
ec_sdo_entry_t *en, *next_en;
//ec_sdo_t *sdo, *next_sdo;
//ec_sdo_entry_t *en, *next_en;
// Alle Strings freigeben
list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
@ -122,6 +122,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
if (slave->eeprom_group) kfree(slave->eeprom_group);
if (slave->eeprom_desc) kfree(slave->eeprom_desc);
#if 0
// Alle SDOs freigeben
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
@ -135,6 +136,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
}
ec_command_clear(&slave->mbox_command);
#endif
}
/*****************************************************************************/