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ethercat
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Always enable a sync manager, if there are registered PDOs conatined (and it 

is not virtual)
This commit is contained in:
Florian Pose 2011-10-24 10:47:36 +02:00
parent 08b9a07c6d
commit c84e2aa8c2
4 changed files with 30 additions and 9 deletions
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1
NEWS
View File

@ -75,6 +75,7 @@ Changes in 1.5:
* Implemented CompleteAccess for SDO downloads.
* ethercat tool is now able to handle multiple masters. The --masters option
supports ranges like '0,3,8-10'.
* A sync manager is always enabled, if it contains registered process data.
Changes in 1.4.0:

25
master/fsm_slave_config.c
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@ -1,6 +1,6 @@
/******************************************************************************
*
* $Id$
* $Id: fsm_slave_config.c,v ff2a13a4603c 2011/03/14 15:55:09 ch1010277 $
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
@ -449,6 +449,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
EC_DIR_INVALID, // use default direction
0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.boot_rx_mailbox_offset;
@ -461,6 +462,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
EC_DIR_INVALID, // use default direction
0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.boot_tx_mailbox_offset;
@ -476,6 +478,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
ec_sync_page(&slave->sii.syncs[i], i,
slave->sii.syncs[i].default_length,
NULL, // use default sync manager configuration
0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
@ -503,6 +506,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
NULL, // use default sync manager configuration
0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.std_rx_mailbox_offset;
@ -515,6 +519,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
NULL, // use default sync manager configuration
0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.std_tx_mailbox_offset;
@ -957,7 +962,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
unsigned int i, offset, num_pdo_syncs;
unsigned int i, j, offset, num_pdo_syncs;
uint8_t sync_index;
const ec_sync_t *sync;
uint16_t size;
@ -984,18 +989,30 @@ void ec_fsm_slave_config_enter_pdo_sync(
for (i = 0; i < num_pdo_syncs; i++) {
const ec_sync_config_t *sync_config;
uint8_t pdo_xfer = 0;
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
if (slave->config) {
sync_config = &slave->config->sync_configs[sync_index];
const ec_slave_config_t *sc = slave->config;
sync_config = &sc->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
// determine, if PDOs shall be transferred via this SM
// inthat case, enable sync manager in every case
for (j = 0; j < sc->used_fmmus; j++) {
if (sc->fmmu_configs[j].sync_index == sync_index) {
pdo_xfer = 1;
break;
}
}
} else {
sync_config = NULL;
size = sync->default_length;
}
ec_sync_page(sync, sync_index, size, sync_config,
ec_sync_page(sync, sync_index, size, sync_config, pdo_xfer,
datagram->data + EC_SYNC_PAGE_SIZE * i);
}

9
master/sync.c
View File

@ -1,6 +1,6 @@
/******************************************************************************
*
* $Id$
* $Id: sync.c,v d9cf40facbc4 2010/05/03 16:07:57 fp $
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
@ -96,11 +96,14 @@ void ec_sync_page(
uint8_t sync_index, /**< Index of the sync manager. */
uint16_t data_size, /**< Data size. */
const ec_sync_config_t *sync_config, /**< Configuration. */
uint8_t pdo_xfer, /**< Non-zero, if PDOs will be transferred via this
sync manager. */
uint8_t *data /**> Configuration memory. */
)
{
// enable only if SII enable is set and size is > 0 and SM is not virtual
uint16_t enable = (sync->enable & 0x01)
// enable only if (SII enable is set or PDO xfer)
// and size is > 0 and SM is not virtual
uint16_t enable = ((sync->enable & 0x01) || pdo_xfer)
&& data_size
&& ((sync->enable & 0x04) == 0);
uint8_t control = sync->control_register;

4
master/sync.h
View File

@ -1,6 +1,6 @@
/******************************************************************************
*
* $Id$
* $Id: sync.h,v a864688e7de5 2009/07/27 10:48:52 fp $
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
@ -59,7 +59,7 @@ void ec_sync_init(ec_sync_t *, ec_slave_t *);
void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
void ec_sync_clear(ec_sync_t *);
void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t,
const ec_sync_config_t *, uint8_t *);
const ec_sync_config_t *, uint8_t, uint8_t *);
int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
ec_direction_t ec_sync_default_direction(const ec_sync_t *);