--- a/master/fsm_master.c Tue Nov 09 11:12:35 2010 +0100
+++ b/master/fsm_master.c Tue Nov 16 15:32:27 2010 +0100
@@ -48,7 +48,11 @@
/** Time difference [ns] to tolerate without setting a new system time offset.
*/
+#ifdef EC_HAVE_CYCLES
+#define EC_SYSTEM_TIME_TOLERANCE_NS 10000
+#else
#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000
+#endif
/*****************************************************************************/
--- a/master/master.c Tue Nov 09 11:12:35 2010 +0100
+++ b/master/master.c Tue Nov 16 15:32:27 2010 +0100
@@ -1814,7 +1814,8 @@
slave->ports[0].next_slave = port0_slave;
- for (i = 1; i < EC_MAX_PORTS; i++) {
+ i = 3;
+ while (i != 0) {
if (!slave->ports[i].link.loop_closed) {
*slave_position = *slave_position + 1;
if (*slave_position < master->slave_count) {
@@ -1827,6 +1828,14 @@
return -1;
}
}
+ switch (i)
+ {
+ case 0: i = 3; break;
+ case 1: i = 2; break;
+ case 3: i = 1; break;
+ case 2:
+ default:i = 0; break;
+ }
}
return 0;
--- a/master/slave.c Tue Nov 09 11:12:35 2010 +0100
+++ b/master/slave.c Tue Nov 16 15:32:27 2010 +0100
@@ -803,6 +803,59 @@
/*****************************************************************************/
+/** returns the previous connected port of a given port.
+ */
+
+unsigned int ec_slave_get_previous_port(
+ ec_slave_t *slave, /**< EtherCAT slave. */
+ unsigned int i /**< Port index */
+ )
+{
+ do
+ {
+ switch (i)
+ {
+ case 0: i = 2; break;
+ case 1: i = 3; break;
+ case 2: i = 1; break;
+ case 3:
+ default:i = 0; break;
+ }
+ if (slave->ports[i].next_slave)
+ return i;
+ } while (i);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** returns the next connected port of a given port.
+ */
+
+unsigned int ec_slave_get_next_port(
+ ec_slave_t *slave, /**< EtherCAT slave. */
+ unsigned int i /**< Port index */
+ )
+{
+ do
+ {
+ switch (i)
+ {
+ case 0: i = 3; break;
+ case 1: i = 2; break;
+ case 3: i = 1; break;
+ case 2:
+ default:i = 0; break;
+ }
+ if (slave->ports[i].next_slave)
+ return i;
+ } while (i);
+ return 0;
+}
+
+
+/*****************************************************************************/
+
/** Calculates the sum of round-trip-times of connected ports 1-3.
*/
uint32_t ec_slave_calc_rtt_sum(
@@ -810,13 +863,11 @@
)
{
uint32_t rtt_sum = 0, rtt;
- unsigned int i;
-
- for (i = 1; i < EC_MAX_PORTS; i++) {
- if (slave->ports[i].next_slave) {
- rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
- rtt_sum += rtt;
- }
+ unsigned int i = ec_slave_get_next_port(slave,0);
+ while (i != 0) {
+ rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
+ rtt_sum += rtt;
+ i = ec_slave_get_next_port(slave,i);
}
return rtt_sum;
@@ -830,20 +881,21 @@
ec_slave_t *slave /**< EtherCAT slave. */
)
{
+ unsigned int i;
ec_slave_t *dc_slave = NULL;
if (slave->base_dc_supported) {
dc_slave = slave;
} else {
- unsigned int i;
-
- for (i = 1; i < EC_MAX_PORTS; i++) {
+ i = ec_slave_get_next_port(slave,0);
+ while (i != 0) {
ec_slave_t *next = slave->ports[i].next_slave;
if (next) {
dc_slave = ec_slave_find_next_dc_slave(next);
if (dc_slave)
break;
}
+ i = ec_slave_get_next_port(slave,i);
}
}
@@ -859,32 +911,30 @@
)
{
unsigned int i;
- ec_slave_t *next, *next_dc;
+ ec_slave_t *next_dc;
uint32_t rtt, next_rtt_sum;
if (!slave->base_dc_supported)
return;
- for (i = 1; i < EC_MAX_PORTS; i++) {
- next = slave->ports[i].next_slave;
- if (!next)
- continue;
- next_dc = ec_slave_find_next_dc_slave(next);
- if (!next_dc)
- continue;
-
- rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
- next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
-
- slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
- next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
+ i = ec_slave_get_next_port(slave,0);
+ while (i != 0) {
+ next_dc = ec_slave_find_next_dc_slave(slave->ports[i].next_slave);
+ if (next_dc) {
+ rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
+ next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
+
+ slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
+ next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
#if 0
- EC_SLAVE_DBG(slave, 1, "delay %u:%u rtt=%u"
- " next_rtt_sum=%u delay=%u\n",
- slave->ring_position, i, rtt, next_rtt_sum,
- slave->ports[i].delay_to_next_dc);
+ EC_SLAVE_DBG(slave, 1, "delay %u:%u rtt=%u"
+ " next_rtt_sum=%u delay=%u\n",
+ slave->ring_position, i, rtt, next_rtt_sum,
+ slave->ports[i].delay_to_next_dc);
#endif
+ }
+ i = ec_slave_get_next_port(slave,i);
}
}
@@ -898,28 +948,26 @@
)
{
unsigned int i;
- ec_slave_t *next, *next_dc;
-
-#if 0
+ ec_slave_t *next_dc;
+
+#if 1
EC_SLAVE_DBG(slave, 1, "%u\n", *delay);
#endif
slave->transmission_delay = *delay;
- for (i = 1; i < EC_MAX_PORTS; i++) {
+ i = ec_slave_get_next_port(slave,0);
+ while (i != 0) {
ec_slave_port_t *port = &slave->ports[i];
- next = port->next_slave;
- if (!next)
- continue;
- next_dc = ec_slave_find_next_dc_slave(next);
- if (!next_dc)
- continue;
-
- *delay = *delay + port->delay_to_next_dc;
+ next_dc = ec_slave_find_next_dc_slave(port->next_slave);
+ if (next_dc) {
+ *delay = *delay + port->delay_to_next_dc;
#if 0
- EC_SLAVE_DBG(slave, 1, "%u:%u %u\n", slave->ring_position, i, *delay);
+ EC_SLAVE_DBG(slave, 1, "%u:%u %u\n", slave->ring_position, i, *delay);
#endif
- ec_slave_calc_transmission_delays_rec(next_dc, delay);
+ ec_slave_calc_transmission_delays_rec(next_dc, delay);
+ }
+ i = ec_slave_get_next_port(slave,i);
}
*delay = *delay + slave->ports[0].delay_to_next_dc;