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ethercat
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Layed out FMMU structure and methods to own files.

This commit is contained in:
Florian Pose 2007-03-07 13:29:29 +00:00
parent a5eabfa35d
commit e14a82d992
8 changed files with 196 additions and 76 deletions
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6
master/Kbuild
View File

@ -35,9 +35,9 @@ include $(src)/../config.kbuild
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o device_id.o pdo.o sync.o slave.o \
datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o \
fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
ec_master-objs := module.o master.o device.o device_id.o pdo.o sync.o fmmu.o \
slave.o datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o \
fsm_change.o fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
ifeq ($(EC_DBG_IF),1)
ec_master-objs += debug.o

1
master/Makefile.am
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@ -40,6 +40,7 @@ EXTRA_DIST = \
device_id.c device_id.h \
pdo.c pdo.h \
sync.c sync.h \
fmmu.c fmmu.h \
domain.c domain.h \
doxygen.c \
ethernet.c ethernet.h \

97
master/fmmu.c Normal file
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@ -0,0 +1,97 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT FMMU methods.
*/
/*****************************************************************************/
#include "globals.h"
#include "slave.h"
#include "master.h"
#include "fmmu.h"
/*****************************************************************************/
/**
* FMMU Constructor.
*/
void ec_fmmu_init(
ec_fmmu_t *fmmu, /**< EtherCAT FMMU */
ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index /**< FMMU index */
)
{
fmmu->slave = slave;
fmmu->index = index;
}
/*****************************************************************************/
/**
* Initializes an FMMU configuration page.
* The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
*/
void ec_fmmu_config(
const ec_fmmu_t *fmmu, /**< EtherCAT FMMU */
uint8_t *data /**> configuration memory */
)
{
size_t sync_size;
sync_size = ec_slave_calc_sync_size(fmmu->slave, fmmu->sync);
if (fmmu->slave->master->debug_level) {
EC_DBG("FMMU%u: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
fmmu->index, fmmu->logical_start_address,
sync_size, fmmu->sync->physical_start_address,
((fmmu->sync->control_register & 0x04) ? "out" : "in"));
}
EC_WRITE_U32(data, fmmu->logical_start_address);
EC_WRITE_U16(data + 4, sync_size); // size of fmmu
EC_WRITE_U8 (data + 6, 0x00); // logical start bit
EC_WRITE_U8 (data + 7, 0x07); // logical end bit
EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address);
EC_WRITE_U8 (data + 10, 0x00); // physical start bit
EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
? 0x02 : 0x01));
EC_WRITE_U16(data + 12, 0x0001); // enable
EC_WRITE_U16(data + 14, 0x0000); // reserved
}
/*****************************************************************************/

77
master/fmmu.h Normal file
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@ -0,0 +1,77 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT FMMU structure.
*/
/*****************************************************************************/
#ifndef _EC_FMMU_H_
#define _EC_FMMU_H_
#include "../include/ecrt.h"
#include "globals.h"
/*****************************************************************************/
/** size of an FMMU configuration page */
#define EC_FMMU_SIZE 16
/*****************************************************************************/
/**
* FMMU configuration.
*/
typedef struct
{
const ec_slave_t *slave; /**< EtherCAT slave, the FMMU belongs to */
unsigned int index; /**< FMMU index */
const ec_domain_t *domain; /**< domain */
const ec_sync_t *sync; /**< sync manager */
uint32_t logical_start_address; /**< logical start address */
}
ec_fmmu_t;
/*****************************************************************************/
void ec_fmmu_init(ec_fmmu_t *, ec_slave_t *, unsigned int);
void ec_fmmu_config(const ec_fmmu_t *, uint8_t *);
/*****************************************************************************/
#endif

3
master/fsm_slave.c
View File

@ -879,8 +879,7 @@ void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
for (j = 0; j < slave->fmmu_count; j++) {
ec_slave_fmmu_config(slave, &slave->fmmus[j],
datagram->data + EC_FMMU_SIZE * j);
ec_fmmu_config(&slave->fmmus[j], datagram->data + EC_FMMU_SIZE * j);
}
ec_master_queue_datagram(master, datagram);

3
master/globals.h
View File

@ -78,9 +78,6 @@
/** size of an EtherCAT datagram footer */
#define EC_DATAGRAM_FOOTER_SIZE 2
/** size of an FMMU configuration page */
#define EC_FMMU_SIZE 16
/** resulting maximum data size of a single datagram in a frame */
#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
- EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

68
master/slave.c
View File

@ -591,21 +591,22 @@ char *ec_slave_sii_string(
/*****************************************************************************/
/**
Prepares an FMMU configuration.
Configuration data for the FMMU is saved in the slave structure and is
written to the slave in ecrt_master_activate().
The FMMU configuration is done in a way, that the complete data range
of the corresponding sync manager is covered. Seperate FMMUs are configured
for each domain.
If the FMMU configuration is already prepared, the function returns with
success.
\return 0 in case of success, else < 0
*/
* Prepares an FMMU configuration.
* Configuration data for the FMMU is saved in the slave structure and is
* written to the slave in ecrt_master_activate().
* The FMMU configuration is done in a way, that the complete data range
* of the corresponding sync manager is covered. Seperate FMMUs are configured
* for each domain.
* If the FMMU configuration is already prepared, the function returns with
* success.
* \return 0 in case of success, else < 0
*/
int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
const ec_domain_t *domain, /**< domain */
const ec_sync_t *sync /**< sync manager */
)
int ec_slave_prepare_fmmu(
ec_slave_t *slave, /**< EtherCAT slave */
const ec_domain_t *domain, /**< domain */
const ec_sync_t *sync /**< sync manager */
)
{
unsigned int i;
ec_fmmu_t *fmmu;
@ -626,12 +627,11 @@ int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
fmmu = &slave->fmmus[slave->fmmu_count];
fmmu->index = slave->fmmu_count;
ec_fmmu_init(fmmu, slave, slave->fmmu_count++);
fmmu->domain = domain;
fmmu->sync = sync;
fmmu->logical_start_address = 0;
slave->fmmu_count++;
slave->pdos_registered = 1;
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
@ -1151,42 +1151,6 @@ void ec_slave_sync_config(const ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
/**
Initializes an FMMU configuration page.
The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
*/
void ec_slave_fmmu_config(const ec_slave_t *slave, /**< EtherCAT slave */
const ec_fmmu_t *fmmu, /**< FMMU */
uint8_t *data /**> configuration memory */
)
{
size_t sync_size;
sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
if (slave->master->debug_level) {
EC_DBG("Slave %3i, FMMU %2i:"
" LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
slave->ring_position, fmmu->index, fmmu->logical_start_address,
sync_size, fmmu->sync->physical_start_address,
((fmmu->sync->control_register & 0x04) ? "out" : "in"));
}
EC_WRITE_U32(data, fmmu->logical_start_address);
EC_WRITE_U16(data + 4, sync_size); // size of fmmu
EC_WRITE_U8 (data + 6, 0x00); // logical start bit
EC_WRITE_U8 (data + 7, 0x07); // logical end bit
EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address);
EC_WRITE_U8 (data + 10, 0x00); // physical start bit
EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
? 0x02 : 0x01));
EC_WRITE_U16(data + 12, 0x0001); // enable
EC_WRITE_U16(data + 14, 0x0000); // reserved
}
/*****************************************************************************/
/**
\return non-zero if slave is a bus coupler
*/

17
master/slave.h
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@ -50,6 +50,7 @@
#include "datagram.h"
#include "pdo.h"
#include "sync.h"
#include "fmmu.h"
/*****************************************************************************/
@ -108,21 +109,6 @@ enum
/*****************************************************************************/
/**
FMMU configuration.
*/
typedef struct
{
unsigned int index; /**< FMMU index */
const ec_domain_t *domain; /**< domain */
const ec_sync_t *sync; /**< sync manager */
uint32_t logical_start_address; /**< logical start address */
}
ec_fmmu_t;
/*****************************************************************************/
/**
EtherCAT slave.
*/
@ -218,7 +204,6 @@ int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
// misc.
ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
void ec_slave_fmmu_config(const ec_slave_t *, const ec_fmmu_t *, uint8_t *);
uint16_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
int ec_slave_is_coupler(const ec_slave_t *);