master/sync.c
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 07:14:00 +0000
changeset 1243 13cb18b91627
parent 1183 d77f634ab0b5
child 1326 ef907b0b5125
permissions -rw-r--r--
Added changes since 1.4.0-rc2.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/** \file
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 * EtherCAT sync manager methods.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "slave.h"
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#include "master.h"
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#include "pdo.h"
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#include "sync.h"
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_sync_init(
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        ec_sync_t *sync, /**< EtherCAT sync manager. */
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        ec_slave_t *slave /**< EtherCAT slave. */
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        )
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{
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    sync->slave = slave;
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    sync->physical_start_address = 0x0000;
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    sync->default_length = 0x0000;
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    sync->control_register = 0x00;
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    sync->enable = 0x00;
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    ec_pdo_list_init(&sync->pdos);
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}
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/*****************************************************************************/
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/** Copy constructor.
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 */
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void ec_sync_init_copy(
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        ec_sync_t *sync, /**< EtherCAT sync manager. */
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        const ec_sync_t *other /**< Sync manager to copy from. */
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        )
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{
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   sync->slave = other->slave;
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   sync->physical_start_address = other->physical_start_address;
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   sync->default_length = other->default_length;
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   sync->control_register = other->control_register;
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   sync->enable = other->enable;
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   ec_pdo_list_init(&sync->pdos);
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   ec_pdo_list_copy(&sync->pdos, &other->pdos);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_sync_clear(
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        ec_sync_t *sync /**< EtherCAT sync manager. */
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        )
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{
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    ec_pdo_list_clear(&sync->pdos);
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}
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/*****************************************************************************/
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/** Initializes a sync manager configuration page.
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 *
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 * The referenced memory (\a data) must be at least \a EC_SYNC_SIZE bytes.
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 */
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void ec_sync_page(
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        const ec_sync_t *sync, /**< Sync manager. */
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        uint8_t sync_index, /**< Index of the sync manager. */
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        uint16_t data_size, /**< Data size. */
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        ec_direction_t dir, /**< Direction (overrides the control byte,
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                              if set to EC_DIR_INPUT or EC_DIR_OUTPUT). */
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        uint8_t *data /**> Configuration memory. */
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        )
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{
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    // enable only if SII enable is set and size is > 0.
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    uint16_t enable = sync->enable && data_size;
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    uint8_t control = sync->control_register;
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    if (dir == EC_DIR_OUTPUT || dir == EC_DIR_INPUT) {
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        // override sync manager direction bits with dir parameter
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        EC_WRITE_BIT(&control, 2, dir == EC_DIR_OUTPUT ? 1 : 0);
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        EC_WRITE_BIT(&control, 3, 0);
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    }
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    if (sync->slave->master->debug_level)
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        EC_DBG("SM%u: Addr 0x%04X, Size %3u, Ctrl 0x%02X, En %u\n",
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               sync_index, sync->physical_start_address,
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               data_size, control, enable);
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    EC_WRITE_U16(data,     sync->physical_start_address);
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    EC_WRITE_U16(data + 2, data_size);
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    EC_WRITE_U8 (data + 4, control);
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    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
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    EC_WRITE_U16(data + 6, enable);
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}
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/*****************************************************************************/
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/** Adds a Pdo to the list of known mapped Pdos.
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 *
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 * \return 0 on success, else < 0
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 */
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int ec_sync_add_pdo(
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        ec_sync_t *sync, /**< EtherCAT sync manager. */
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        const ec_pdo_t *pdo /**< Pdo to map. */
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        )
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{
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    return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
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}
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/*****************************************************************************/
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/** Determines the default direction from the control register.
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 */
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ec_direction_t ec_sync_default_direction(
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        const ec_sync_t *sync /**< EtherCAT sync manager. */
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        )
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{
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    switch ((sync->control_register & 0x0C) >> 2) {
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        case 0x0: return EC_DIR_INPUT;
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        case 0x1: return EC_DIR_OUTPUT;
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        default: return EC_DIR_INVALID;
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    }
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}
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/*****************************************************************************/