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ethercat
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Added fix for ESC port order (DC delay calculation).

This commit is contained in:
Florian Pose 2012-01-30 15:17:34 +01:00
parent ab7dad03a6
commit b54aefc56a
2 changed files with 128 additions and 48 deletions
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19
master/master.c
View File

@ -1913,24 +1913,33 @@ int ec_master_calc_topology_rec(
)
{
ec_slave_t *slave = master->slaves + *slave_position;
unsigned int i;
unsigned int port_index;
int ret;
static const unsigned int next_table[EC_MAX_PORTS] = {
3, 2, 0, 1
};
slave->ports[0].next_slave = port0_slave;
for (i = 1; i < EC_MAX_PORTS; i++) {
if (!slave->ports[i].link.loop_closed) {
port_index = 3;
while (port_index != 0) {
if (!slave->ports[port_index].link.loop_closed) {
*slave_position = *slave_position + 1;
if (*slave_position < master->slave_count) {
slave->ports[i].next_slave = master->slaves + *slave_position;
slave->ports[port_index].next_slave =
master->slaves + *slave_position;
ret = ec_master_calc_topology_rec(master,
slave, slave_position);
if (ret)
if (ret) {
return ret;
}
} else {
return -1;
}
}
port_index = next_table[port_index];
}
return 0;

157
master/slave.c
View File

@ -803,6 +803,62 @@ 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 port_index /**< Port index. */
)
{
static const unsigned int prev_table[EC_MAX_PORTS] = {
2, 3, 1, 0
};
if (port_index >= EC_MAX_PORTS) {
EC_SLAVE_WARN(slave, "%s(port_index=%u): Invalid port index!\n",
__func__, port_index);
}
do {
port_index = prev_table[port_index];
if (slave->ports[port_index].next_slave) {
return port_index;
}
} while (port_index);
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 port_index /**< Port index. */
)
{
static const unsigned int next_table[EC_MAX_PORTS] = {
3, 2, 0, 1
};
if (port_index >= EC_MAX_PORTS) {
EC_SLAVE_WARN(slave, "%s(port_index=%u): Invalid port index!\n",
__func__, port_index);
}
do {
port_index = next_table[port_index];
if (slave->ports[port_index].next_slave) {
return port_index;
}
} while (port_index);
return 0;
}
/*****************************************************************************/
/** Calculates the sum of round-trip-times of connected ports 1-3.
*/
uint32_t ec_slave_calc_rtt_sum(
@ -810,13 +866,16 @@ 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 port_index = ec_slave_get_next_port(slave, 0);
while (port_index != 0) {
unsigned int prev_index =
ec_slave_get_previous_port(slave, port_index);
rtt = slave->ports[port_index].receive_time -
slave->ports[prev_index].receive_time;
rtt_sum += rtt;
port_index = ec_slave_get_next_port(slave, port_index);
}
return rtt_sum;
@ -830,20 +889,25 @@ ec_slave_t *ec_slave_find_next_dc_slave(
ec_slave_t *slave /**< EtherCAT slave. */
)
{
unsigned int port_index;
ec_slave_t *dc_slave = NULL;
if (slave->base_dc_supported) {
dc_slave = slave;
} else {
unsigned int i;
port_index = ec_slave_get_next_port(slave, 0);
while (port_index != 0) {
ec_slave_t *next = slave->ports[port_index].next_slave;
for (i = 1; i < EC_MAX_PORTS; i++) {
ec_slave_t *next = slave->ports[i].next_slave;
if (next) {
dc_slave = ec_slave_find_next_dc_slave(next);
if (dc_slave)
if (dc_slave) {
break;
}
}
port_index = ec_slave_get_next_port(slave, port_index);
}
}
@ -858,33 +922,41 @@ void ec_slave_calc_port_delays(
ec_slave_t *slave /**< EtherCAT slave. */
)
{
unsigned int i;
ec_slave_t *next, *next_dc;
unsigned int port_index;
ec_slave_t *next_slave, *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;
port_index = ec_slave_get_next_port(slave, 0);
rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
while (port_index != 0) {
next_slave = slave->ports[port_index].next_slave;
next_dc = ec_slave_find_next_dc_slave(next_slave);
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 (next_dc) {
unsigned int prev_port =
ec_slave_get_previous_port(slave, port_index);
rtt = slave->ports[port_index].receive_time -
slave->ports[prev_port].receive_time;
next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
slave->ports[port_index].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, port_index, rtt, next_rtt_sum,
slave->ports[port_index].delay_to_next_dc);
#endif
}
port_index = ec_slave_get_next_port(slave, port_index);
}
}
@ -898,28 +970,27 @@ void ec_slave_calc_transmission_delays_rec(
)
{
unsigned int i;
ec_slave_t *next, *next_dc;
ec_slave_t *next_dc;
#if 0
EC_SLAVE_DBG(slave, 1, "%u\n", *delay);
#endif
EC_SLAVE_DBG(slave, 1, "%s(delay = %u ns)\n", __func__, *delay);
slave->transmission_delay = *delay;
for (i = 1; i < EC_MAX_PORTS; i++) {
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;
i = ec_slave_get_next_port(slave, 0);
*delay = *delay + port->delay_to_next_dc;
while (i != 0) {
ec_slave_port_t *port = &slave->ports[i];
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;