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ethercat
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Introduced --enable-sii-assign.

This commit is contained in:
Florian Pose 2013-02-06 17:25:08 +01:00
parent 6ff26896f2
commit 9537c567f8
5 changed files with 251 additions and 13 deletions
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5
NEWS
View File

@ -6,6 +6,11 @@ vim: spelllang=en spell
-------------------------------------------------------------------------------
Changes since 1.5.1:
* Introduced --enable-sii-assign to switch on assigning the SII to PDI and
back to EtherCAT during configuration.
Changes in 1.5.1:
* Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.

1
TODO
View File

@ -12,7 +12,6 @@ Version 1.5.2:
• Document --with-devices.
• Document RTDM interface.
• Allow PDI access to EEPROM during INIT->PREOP transition.
Future issues:

24
configure.ac
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@ -830,6 +830,30 @@ fi
AC_DEFINE_UNQUOTED([EC_MAX_NUM_DEVICES], $devices,
[Max. number of Ethernet devices per master])
#------------------------------------------------------------------------------
# SII assignment
#------------------------------------------------------------------------------
AC_ARG_ENABLE([sii-assign],
AS_HELP_STRING([--enable-sii-assign],
[Enable SII assignment to PDI (default: no)]),
[
case "${enableval}" in
yes) siiassign=1
;;
no) siiassign=0
;;
*) AC_MSG_ERROR([Invalid value for --enable-sii-assign])
;;
esac
],
[siiassign=0]
)
if test "x${siiassign}" = "x1"; then
AC_DEFINE([EC_SII_ASSIGN], [1], [Assign SII to PDI])
fi
#------------------------------------------------------------------------------
AC_CONFIG_FILES([

134
master/fsm_slave_config.c
View File

@ -67,7 +67,13 @@ void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
#ifdef EC_SII_ASSIGN
void ec_fsm_slave_config_state_assign_pdi(ec_fsm_slave_config_t *);
#endif
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
#ifdef EC_SII_ASSIGN
void ec_fsm_slave_config_state_assign_ethercat(ec_fsm_slave_config_t *);
#endif
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
@ -87,6 +93,9 @@ void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
#ifdef EC_SII_ASSIGN
void ec_fsm_slave_config_enter_assign_pdi(ec_fsm_slave_config_t *);
#endif
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
@ -432,7 +441,11 @@ void ec_fsm_slave_config_enter_mbox_sync(
// no mailbox protocols supported
EC_SLAVE_DBG(slave, 1, "Slave does not support"
" mailbox communication.\n");
#ifdef EC_SII_ASSIGN
ec_fsm_slave_config_enter_assign_pdi(fsm);
#else
ec_fsm_slave_config_enter_boot_preop(fsm);
#endif
return;
}
@ -595,9 +608,71 @@ void ec_fsm_slave_config_state_mbox_sync(
return;
}
#ifdef EC_SII_ASSIGN
ec_fsm_slave_config_enter_assign_pdi(fsm);
#else
ec_fsm_slave_config_enter_boot_preop(fsm);
#endif
}
/*****************************************************************************/
#ifdef EC_SII_ASSIGN
/** Assign SII to PDI.
*/
void ec_fsm_slave_config_enter_assign_pdi(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
EC_SLAVE_DBG(slave, 1, "Assigning SII access to PDI.\n");
ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 0x01);
EC_WRITE_U8(datagram->data, 0x01); // PDI
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_assign_pdi;
}
else {
ec_fsm_slave_config_enter_boot_preop(fsm);
}
}
/*****************************************************************************/
/** Slave configuration state: ASSIGN_PDI.
*/
void ec_fsm_slave_config_state_assign_pdi(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
ec_datagram_print_state(datagram);
goto cont_preop;
}
if (datagram->working_counter != 1) {
EC_SLAVE_WARN(slave, "Failed to assign SII to PDI: ");
ec_datagram_print_wc_error(datagram);
}
cont_preop:
ec_fsm_slave_config_enter_boot_preop(fsm);
}
#endif
/*****************************************************************************/
/** Request PREOP state.
@ -609,9 +684,11 @@ void ec_fsm_slave_config_enter_boot_preop(
fsm->state = ec_fsm_slave_config_state_boot_preop;
if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
ec_fsm_change_start(fsm->fsm_change,
fsm->slave, EC_SLAVE_STATE_PREOP);
} else { // BOOT
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
ec_fsm_change_start(fsm->fsm_change,
fsm->slave, EC_SLAVE_STATE_BOOT);
}
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
@ -627,7 +704,9 @@ void ec_fsm_slave_config_state_boot_preop(
{
ec_slave_t *slave = fsm->slave;
if (ec_fsm_change_exec(fsm->fsm_change)) return;
if (ec_fsm_change_exec(fsm->fsm_change)) {
return;
}
if (!ec_fsm_change_success(fsm->fsm_change)) {
if (!fsm->fsm_change->spontaneous_change)
@ -642,6 +721,53 @@ void ec_fsm_slave_config_state_boot_preop(
EC_SLAVE_DBG(slave, 1, "Now in %s.\n",
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");
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
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
return;
}
ec_fsm_slave_config_enter_sdo_conf(fsm);
#endif
}
/*****************************************************************************/
#ifdef EC_SII_ASSIGN
/** Slave configuration state: ASSIGN_ETHERCAT.
*/
void ec_fsm_slave_config_state_assign_ethercat(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
ec_datagram_print_state(datagram);
goto cont_sdo_conf;
}
if (datagram->working_counter != 1) {
EC_SLAVE_WARN(slave, "Failed to assign SII back to EtherCAT: ");
ec_datagram_print_wc_error(datagram);
}
cont_sdo_conf:
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
@ -651,6 +777,8 @@ void ec_fsm_slave_config_state_boot_preop(
ec_fsm_slave_config_enter_sdo_conf(fsm);
}
#endif
/*****************************************************************************/
/** Check for SDO configurations to be applied.

100
master/fsm_slave_scan.c
View File

@ -50,6 +50,9 @@ void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_dc_cap(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
#ifdef EC_SII_ASSIGN
void ec_fsm_slave_scan_state_assign_sii(ec_fsm_slave_scan_t *);
#endif
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
#ifdef EC_REGALIAS
@ -439,11 +442,52 @@ void ec_fsm_slave_scan_enter_datalink(
/*****************************************************************************/
/** Enter slave scan state SII_SIZE.
*/
void ec_fsm_slave_scan_enter_sii_size(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
// Start fetching SII size
fsm->sii_offset = EC_FIRST_SII_CATEGORY_OFFSET; // first category header
ec_fsm_sii_read(&fsm->fsm_sii, fsm->slave, fsm->sii_offset,
EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fsm->state = ec_fsm_slave_scan_state_sii_size;
fsm->state(fsm); // execute state immediately
}
/*****************************************************************************/
#ifdef EC_SII_ASSIGN
/** Enter slave scan state ASSIGN_SII.
*/
void ec_fsm_slave_scan_enter_assign_sii(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
// assign SII to ECAT
ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 1);
EC_WRITE_U8(datagram->data, 0x00); // EtherCAT
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_assign_sii;
}
#endif
/*****************************************************************************/
/**
Slave scan state: DATALINK.
*/
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
void ec_fsm_slave_scan_state_datalink(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -478,22 +522,60 @@ void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *fsm /**< slave state
dl_status & (1 << (9 + i * 2)) ? 1 : 0;
}
// Start fetching SII size
fsm->sii_offset = EC_FIRST_SII_CATEGORY_OFFSET; // first category header
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fsm->state = ec_fsm_slave_scan_state_sii_size;
fsm->state(fsm); // execute state immediately
#ifdef EC_SII_ASSIGN
ec_fsm_slave_scan_enter_assign_sii(fsm);
#else
ec_fsm_slave_scan_enter_sii_size(fsm);
#endif
}
/*****************************************************************************/
#ifdef EC_SII_ASSIGN
/**
Slave scan state: ASSIGN_SII.
*/
void ec_fsm_slave_scan_state_assign_sii(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_WARN(slave, "Failed to receive SII assignment datagram: ");
ec_datagram_print_state(datagram);
// Try to go on, probably assignment is correct
goto continue_with_sii_size;
}
if (datagram->working_counter != 1) {
EC_SLAVE_WARN(slave, "Failed to assign SII to EtherCAT: ");
ec_datagram_print_wc_error(datagram);
// Try to go on, probably assignment is correct
}
continue_with_sii_size:
ec_fsm_slave_scan_enter_sii_size(fsm);
}
#endif
/*****************************************************************************/
/**
Slave scan state: SII SIZE.
*/
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
void ec_fsm_slave_scan_state_sii_size(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
uint16_t cat_type, cat_size;