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ethercat
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Always write PDO mapping/assignment.

This commit is contained in:
Florian Pose 2010-09-21 14:20:23 +02:00
parent b3e4b73854
commit d3a9a36d63
3 changed files with 55 additions and 58 deletions
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1
TODO
View File

@ -76,7 +76,6 @@ Future issues:
- Implement reading from stream for soe_write.
* Simplify master fsm by introducing a common request state to handle external
requests (replace write_sii, sdo_request, etc).
* Write PDO mapping/assignment by default?
* Remove stdio uses in userspace library?
Smaller issues:

101
master/fsm_pdo.c
View File

@ -376,7 +376,7 @@ void ec_fsm_pdo_conf_state_start(
return;
}
fsm->sync_index = 0xff; // next is zero
fsm->sync_index = 1; // next is 2
ec_fsm_pdo_conf_action_next_sync(fsm);
}
@ -429,7 +429,8 @@ void ec_fsm_pdo_conf_action_next_sync(
}
// get first configured PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
if (!(fsm->pdo =
ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
// no pdos configured
ec_fsm_pdo_conf_action_check_assignment(fsm);
return;
@ -506,17 +507,30 @@ void ec_fsm_pdo_conf_action_check_mapping(
ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X"
" is already configured correctly.\n", fsm->pdo->index);
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
// check, if slave supports PDO configuration
if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
&& fsm->slave->sii.has_general
&& fsm->slave->sii.coe_details.enable_pdo_configuration) {
// always write PDO mapping
ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
fsm->pdo, &fsm->slave_pdo);
fsm->state = ec_fsm_pdo_conf_state_mapping;
fsm->state(fsm); // execure immediately
return;
}
else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support"
" changing the PDO mapping!\n");
EC_SLAVE_WARN(fsm->slave, "");
printk("Currently mapped PDO entries: ");
ec_pdo_print_entries(&fsm->slave_pdo);
printk(". Entries to map: ");
ec_pdo_print_entries(fsm->pdo);
printk("\n");
}
ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
fsm->pdo, &fsm->slave_pdo);
fsm->state = ec_fsm_pdo_conf_state_mapping;
fsm->state(fsm); // execure immediately
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
}
/*****************************************************************************/
@ -564,46 +578,42 @@ void ec_fsm_pdo_conf_action_check_assignment(
ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
// check if assignment has to be re-configured
if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u"
" is already configured correctly.\n", fsm->sync_index);
ec_fsm_pdo_conf_action_next_sync(fsm);
if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
&& fsm->slave->sii.has_general
&& fsm->slave->sii.coe_details.enable_pdo_assign) {
// always write PDO assignment
if (fsm->slave->master->debug_level) {
EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n",
fsm->sync_index);
EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
}
if (ec_sdo_request_alloc(&fsm->request, 2)) {
fsm->state = ec_fsm_pdo_state_error;
return;
}
// set mapped PDO count to zero
EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned"
" PDOs to zero.\n");
fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
if (fsm->slave->master->debug_level) {
EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n",
fsm->sync_index);
EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
}
// PDO assignment has to be changed. Does the slave support this?
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_assign)) {
else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
if (ec_sdo_request_alloc(&fsm->request, 2)) {
fsm->state = ec_fsm_pdo_state_error;
return;
}
// set mapped PDO count to zero
EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned PDOs to zero.\n");
fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
ec_fsm_pdo_conf_action_next_sync(fsm);
}
/*****************************************************************************/
@ -621,7 +631,7 @@ void ec_fsm_pdo_conf_state_zero_pdo_count(
EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
fsm->sync_index);
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
@ -632,7 +642,6 @@ void ec_fsm_pdo_conf_state_zero_pdo_count(
// find first PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
EC_SLAVE_DBG(fsm->slave, 1, "No PDOs to assign.\n");
// check for mapping to be altered
ec_fsm_pdo_conf_action_next_sync(fsm);

11
master/fsm_pdo_entry.c
View File

@ -328,17 +328,6 @@ void ec_fsm_pdo_entry_conf_state_start(
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
// PDO mapping has to be changed. Does the slave support this?
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support"
" changing the PDO mapping!\n");
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
if (ec_sdo_request_alloc(&fsm->request, 4)) {
fsm->state = ec_fsm_pdo_entry_state_error;
return;