master/sync.c
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625 e25af8bd3957
parent 2589 2b9c78543663
permissions -rw-r--r--
Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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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        const ec_sync_config_t *sync_config, /**< Configuration. */
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        uint8_t pdo_xfer, /**< Non-zero, if PDOs will be transferred via this
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                            sync manager. */
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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 or PDO xfer)
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    // and size is > 0 and SM is not virtual
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    uint16_t enable = ((sync->enable & 0x01) || pdo_xfer)
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                        && data_size
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                        && ((sync->enable & 0x04) == 0);
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    uint8_t control = sync->control_register;
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    if (sync_config) {
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        switch (sync_config->dir) {
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            case EC_DIR_OUTPUT:
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            case EC_DIR_INPUT:
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                EC_WRITE_BIT(&control, 2,
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                        sync_config->dir == EC_DIR_OUTPUT ? 1 : 0);
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                EC_WRITE_BIT(&control, 3, 0);
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                break;
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            default:
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                break;
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        }
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        switch (sync_config->watchdog_mode) {
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            case EC_WD_ENABLE:
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            case EC_WD_DISABLE:
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                EC_WRITE_BIT(&control, 6,
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                        sync_config->watchdog_mode == EC_WD_ENABLE);
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                break;
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            default:
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                break;
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        }
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    }
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    EC_SLAVE_DBG(sync->slave, 1, "SM%u: Addr 0x%04X, Size %3u,"
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            " 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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 * \return Direction.
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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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   169
        )
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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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   175
    }
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}
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   178
/*****************************************************************************/