# HG changeset patch # User Florian Pose # Date 1360167908 -3600 # Node ID 6b21b3f88a9a02f2b6c362b5533f74f8d0369d75 # Parent 4ccf7634e664ea5b64e13dd9fabfea4640c21f2a Introduced --enable-sii-assign. diff -r 4ccf7634e664 -r 6b21b3f88a9a NEWS --- a/NEWS Wed Feb 06 15:58:00 2013 +0100 +++ b/NEWS Wed Feb 06 17:25:08 2013 +0100 @@ -6,6 +6,11 @@ ------------------------------------------------------------------------------- +Changes since 1.5.1: + +* Introduced --enable-sii-assign to switch on assigning the SII to PDI and + back to EtherCAT during configuration. + Changes in 1.5.1: * Fixed reset of allow_scanning flag if ecrt_master_activate() was not called. diff -r 4ccf7634e664 -r 6b21b3f88a9a TODO --- a/TODO Wed Feb 06 15:58:00 2013 +0100 +++ b/TODO Wed Feb 06 17:25:08 2013 +0100 @@ -12,7 +12,6 @@ • Document --with-devices. • Document RTDM interface. -• Allow PDI access to EEPROM during INIT->PREOP transition. Future issues: diff -r 4ccf7634e664 -r 6b21b3f88a9a configure.ac --- a/configure.ac Wed Feb 06 15:58:00 2013 +0100 +++ b/configure.ac Wed Feb 06 17:25:08 2013 +0100 @@ -831,6 +831,30 @@ [Max. number of Ethernet devices per master]) #------------------------------------------------------------------------------ +# SII assignment +#------------------------------------------------------------------------------ + +AC_ARG_ENABLE([sii-assign], + AS_HELP_STRING([--enable-sii-assign], + [Enable SII assignment to PDI (default: no)]), + [ + case "${enableval}" in + yes) siiassign=1 + ;; + no) siiassign=0 + ;; + *) AC_MSG_ERROR([Invalid value for --enable-sii-assign]) + ;; + esac + ], + [siiassign=0] +) + +if test "x${siiassign}" = "x1"; then + AC_DEFINE([EC_SII_ASSIGN], [1], [Assign SII to PDI]) +fi + +#------------------------------------------------------------------------------ AC_CONFIG_FILES([ Doxyfile diff -r 4ccf7634e664 -r 6b21b3f88a9a master/fsm_slave_config.c --- a/master/fsm_slave_config.c Wed Feb 06 15:58:00 2013 +0100 +++ b/master/fsm_slave_config.c Wed Feb 06 17:25:08 2013 +0100 @@ -67,7 +67,13 @@ void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *); void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *); void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *); +#ifdef EC_SII_ASSIGN +void ec_fsm_slave_config_state_assign_pdi(ec_fsm_slave_config_t *); +#endif void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *); +#ifdef EC_SII_ASSIGN +void ec_fsm_slave_config_state_assign_ethercat(ec_fsm_slave_config_t *); +#endif void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *); void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *); void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *); @@ -87,6 +93,9 @@ void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *); void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *); void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *); +#ifdef EC_SII_ASSIGN +void ec_fsm_slave_config_enter_assign_pdi(ec_fsm_slave_config_t *); +#endif void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *); void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *); void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *); @@ -432,7 +441,11 @@ // no mailbox protocols supported EC_SLAVE_DBG(slave, 1, "Slave does not support" " mailbox communication.\n"); +#ifdef EC_SII_ASSIGN + ec_fsm_slave_config_enter_assign_pdi(fsm); +#else ec_fsm_slave_config_enter_boot_preop(fsm); +#endif return; } @@ -595,8 +608,70 @@ return; } +#ifdef EC_SII_ASSIGN + ec_fsm_slave_config_enter_assign_pdi(fsm); +#else ec_fsm_slave_config_enter_boot_preop(fsm); -} +#endif +} + +/*****************************************************************************/ + +#ifdef EC_SII_ASSIGN + +/** Assign SII to PDI. + */ +void ec_fsm_slave_config_enter_assign_pdi( + ec_fsm_slave_config_t *fsm /**< slave state machine */ + ) +{ + ec_datagram_t *datagram = fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) { + EC_SLAVE_DBG(slave, 1, "Assigning SII access to PDI.\n"); + + ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 0x01); + EC_WRITE_U8(datagram->data, 0x01); // PDI + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_slave_config_state_assign_pdi; + } + else { + ec_fsm_slave_config_enter_boot_preop(fsm); + } +} + +/*****************************************************************************/ + +/** Slave configuration state: ASSIGN_PDI. + */ +void ec_fsm_slave_config_state_assign_pdi( + ec_fsm_slave_config_t *fsm /**< slave state machine */ + ) +{ + ec_datagram_t *datagram = fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) { + return; + } + + if (datagram->state != EC_DATAGRAM_RECEIVED) { + EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: "); + ec_datagram_print_state(datagram); + goto cont_preop; + } + + if (datagram->working_counter != 1) { + EC_SLAVE_WARN(slave, "Failed to assign SII to PDI: "); + ec_datagram_print_wc_error(datagram); + } + +cont_preop: + ec_fsm_slave_config_enter_boot_preop(fsm); +} + +#endif /*****************************************************************************/ @@ -609,9 +684,11 @@ fsm->state = ec_fsm_slave_config_state_boot_preop; if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) { - ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP); + ec_fsm_change_start(fsm->fsm_change, + fsm->slave, EC_SLAVE_STATE_PREOP); } else { // BOOT - ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT); + ec_fsm_change_start(fsm->fsm_change, + fsm->slave, EC_SLAVE_STATE_BOOT); } ec_fsm_change_exec(fsm->fsm_change); // execute immediately @@ -627,7 +704,9 @@ { ec_slave_t *slave = fsm->slave; - if (ec_fsm_change_exec(fsm->fsm_change)) return; + if (ec_fsm_change_exec(fsm->fsm_change)) { + return; + } if (!ec_fsm_change_success(fsm->fsm_change)) { if (!fsm->fsm_change->spontaneous_change) @@ -642,6 +721,14 @@ EC_SLAVE_DBG(slave, 1, "Now in %s.\n", slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT"); +#ifdef EC_SII_ASSIGN + EC_SLAVE_DBG(slave, 1, "Assigning SII access back to EtherCAT.\n"); + + ec_datagram_fpwr(fsm->datagram, slave->station_address, 0x0500, 0x01); + EC_WRITE_U8(fsm->datagram->data, 0x00); // EtherCAT + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_slave_config_state_assign_ethercat; +#else if (slave->current_state == slave->requested_state) { fsm->state = ec_fsm_slave_config_state_end; // successful EC_SLAVE_DBG(slave, 1, "Finished configuration.\n"); @@ -649,7 +736,48 @@ } ec_fsm_slave_config_enter_sdo_conf(fsm); -} +#endif +} + +/*****************************************************************************/ + +#ifdef EC_SII_ASSIGN + +/** Slave configuration state: ASSIGN_ETHERCAT. + */ +void ec_fsm_slave_config_state_assign_ethercat( + ec_fsm_slave_config_t *fsm /**< slave state machine */ + ) +{ + ec_datagram_t *datagram = fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) { + return; + } + + if (datagram->state != EC_DATAGRAM_RECEIVED) { + EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: "); + ec_datagram_print_state(datagram); + goto cont_sdo_conf; + } + + if (datagram->working_counter != 1) { + EC_SLAVE_WARN(slave, "Failed to assign SII back to EtherCAT: "); + ec_datagram_print_wc_error(datagram); + } + +cont_sdo_conf: + if (slave->current_state == slave->requested_state) { + fsm->state = ec_fsm_slave_config_state_end; // successful + EC_SLAVE_DBG(slave, 1, "Finished configuration.\n"); + return; + } + + ec_fsm_slave_config_enter_sdo_conf(fsm); +} + +#endif /*****************************************************************************/ diff -r 4ccf7634e664 -r 6b21b3f88a9a master/fsm_slave_scan.c --- a/master/fsm_slave_scan.c Wed Feb 06 15:58:00 2013 +0100 +++ b/master/fsm_slave_scan.c Wed Feb 06 17:25:08 2013 +0100 @@ -50,6 +50,9 @@ void ec_fsm_slave_scan_state_dc_cap(ec_fsm_slave_scan_t *); void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *); void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *); +#ifdef EC_SII_ASSIGN +void ec_fsm_slave_scan_state_assign_sii(ec_fsm_slave_scan_t *); +#endif void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *); void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *); #ifdef EC_REGALIAS @@ -439,11 +442,52 @@ /*****************************************************************************/ +/** Enter slave scan state SII_SIZE. + */ +void ec_fsm_slave_scan_enter_sii_size( + ec_fsm_slave_scan_t *fsm /**< slave state machine */ + ) +{ + // Start fetching SII size + + fsm->sii_offset = EC_FIRST_SII_CATEGORY_OFFSET; // first category header + ec_fsm_sii_read(&fsm->fsm_sii, fsm->slave, fsm->sii_offset, + EC_FSM_SII_USE_CONFIGURED_ADDRESS); + fsm->state = ec_fsm_slave_scan_state_sii_size; + fsm->state(fsm); // execute state immediately +} + +/*****************************************************************************/ + +#ifdef EC_SII_ASSIGN + +/** Enter slave scan state ASSIGN_SII. + */ +void ec_fsm_slave_scan_enter_assign_sii( + ec_fsm_slave_scan_t *fsm /**< slave state machine */ + ) +{ + ec_datagram_t *datagram = fsm->datagram; + ec_slave_t *slave = fsm->slave; + + // assign SII to ECAT + ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 1); + EC_WRITE_U8(datagram->data, 0x00); // EtherCAT + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_slave_scan_state_assign_sii; +} + +#endif + +/*****************************************************************************/ + /** Slave scan state: DATALINK. */ -void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *fsm /**< slave state machine */) +void ec_fsm_slave_scan_state_datalink( + ec_fsm_slave_scan_t *fsm /**< slave state machine */ + ) { ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; @@ -478,14 +522,50 @@ dl_status & (1 << (9 + i * 2)) ? 1 : 0; } - // Start fetching SII size - - fsm->sii_offset = EC_FIRST_SII_CATEGORY_OFFSET; // first category header - ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, - EC_FSM_SII_USE_CONFIGURED_ADDRESS); - fsm->state = ec_fsm_slave_scan_state_sii_size; - fsm->state(fsm); // execute state immediately -} +#ifdef EC_SII_ASSIGN + ec_fsm_slave_scan_enter_assign_sii(fsm); +#else + ec_fsm_slave_scan_enter_sii_size(fsm); +#endif +} + +/*****************************************************************************/ + +#ifdef EC_SII_ASSIGN + +/** + Slave scan state: ASSIGN_SII. +*/ + +void ec_fsm_slave_scan_state_assign_sii( + ec_fsm_slave_scan_t *fsm /**< slave state machine */ + ) +{ + ec_datagram_t *datagram = fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) { + return; + } + + if (datagram->state != EC_DATAGRAM_RECEIVED) { + EC_SLAVE_WARN(slave, "Failed to receive SII assignment datagram: "); + ec_datagram_print_state(datagram); + // Try to go on, probably assignment is correct + goto continue_with_sii_size; + } + + if (datagram->working_counter != 1) { + EC_SLAVE_WARN(slave, "Failed to assign SII to EtherCAT: "); + ec_datagram_print_wc_error(datagram); + // Try to go on, probably assignment is correct + } + +continue_with_sii_size: + ec_fsm_slave_scan_enter_sii_size(fsm); +} + +#endif /*****************************************************************************/ @@ -493,7 +573,9 @@ Slave scan state: SII SIZE. */ -void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *fsm /**< slave state machine */) +void ec_fsm_slave_scan_state_sii_size( + ec_fsm_slave_scan_t *fsm /**< slave state machine */ + ) { ec_slave_t *slave = fsm->slave; uint16_t cat_type, cat_size;