--- a/NEWS Tue Oct 11 14:06:07 2011 +0200
+++ b/NEWS Mon Oct 24 10:47:36 2011 +0200
@@ -75,6 +75,7 @@
* Implemented CompleteAccess for SDO downloads.
* ethercat tool is now able to handle multiple masters. The --masters option
supports ranges like '0,3,8-10'.
+* A sync manager is always enabled, if it contains registered process data.
Changes in 1.4.0:
--- a/master/fsm_slave_config.c Tue Oct 11 14:06:07 2011 +0200
+++ b/master/fsm_slave_config.c Mon Oct 24 10:47:36 2011 +0200
@@ -1,6 +1,6 @@
/******************************************************************************
*
- * $Id$
+ * $Id: fsm_slave_config.c,v ff2a13a4603c 2011/03/14 15:55:09 ch1010277 $
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
@@ -449,6 +449,7 @@
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
EC_DIR_INVALID, // use default direction
+ 0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.boot_rx_mailbox_offset;
@@ -461,6 +462,7 @@
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
EC_DIR_INVALID, // use default direction
+ 0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.boot_tx_mailbox_offset;
@@ -476,6 +478,7 @@
ec_sync_page(&slave->sii.syncs[i], i,
slave->sii.syncs[i].default_length,
NULL, // use default sync manager configuration
+ 0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
@@ -503,6 +506,7 @@
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
NULL, // use default sync manager configuration
+ 0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.std_rx_mailbox_offset;
@@ -515,6 +519,7 @@
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
NULL, // use default sync manager configuration
+ 0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.std_tx_mailbox_offset;
@@ -957,7 +962,7 @@
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
- unsigned int i, offset, num_pdo_syncs;
+ unsigned int i, j, offset, num_pdo_syncs;
uint8_t sync_index;
const ec_sync_t *sync;
uint16_t size;
@@ -984,18 +989,30 @@
for (i = 0; i < num_pdo_syncs; i++) {
const ec_sync_config_t *sync_config;
+ uint8_t pdo_xfer = 0;
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
if (slave->config) {
- sync_config = &slave->config->sync_configs[sync_index];
+ const ec_slave_config_t *sc = slave->config;
+ sync_config = &sc->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
+
+ // determine, if PDOs shall be transferred via this SM
+ // inthat case, enable sync manager in every case
+ for (j = 0; j < sc->used_fmmus; j++) {
+ if (sc->fmmu_configs[j].sync_index == sync_index) {
+ pdo_xfer = 1;
+ break;
+ }
+ }
+
} else {
sync_config = NULL;
size = sync->default_length;
}
- ec_sync_page(sync, sync_index, size, sync_config,
+ ec_sync_page(sync, sync_index, size, sync_config, pdo_xfer,
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
--- a/master/sync.c Tue Oct 11 14:06:07 2011 +0200
+++ b/master/sync.c Mon Oct 24 10:47:36 2011 +0200
@@ -1,6 +1,6 @@
/******************************************************************************
*
- * $Id$
+ * $Id: sync.c,v d9cf40facbc4 2010/05/03 16:07:57 fp $
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
@@ -96,11 +96,14 @@
uint8_t sync_index, /**< Index of the sync manager. */
uint16_t data_size, /**< Data size. */
const ec_sync_config_t *sync_config, /**< Configuration. */
+ uint8_t pdo_xfer, /**< Non-zero, if PDOs will be transferred via this
+ sync manager. */
uint8_t *data /**> Configuration memory. */
)
{
- // enable only if SII enable is set and size is > 0 and SM is not virtual
- uint16_t enable = (sync->enable & 0x01)
+ // enable only if (SII enable is set or PDO xfer)
+ // and size is > 0 and SM is not virtual
+ uint16_t enable = ((sync->enable & 0x01) || pdo_xfer)
&& data_size
&& ((sync->enable & 0x04) == 0);
uint8_t control = sync->control_register;
--- a/master/sync.h Tue Oct 11 14:06:07 2011 +0200
+++ b/master/sync.h Mon Oct 24 10:47:36 2011 +0200
@@ -1,6 +1,6 @@
/******************************************************************************
*
- * $Id$
+ * $Id: sync.h,v a864688e7de5 2009/07/27 10:48:52 fp $
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
@@ -59,7 +59,7 @@
void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
void ec_sync_clear(ec_sync_t *);
void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t,
- const ec_sync_config_t *, uint8_t *);
+ const ec_sync_config_t *, uint8_t, uint8_t *);
int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
ec_direction_t ec_sync_default_direction(const ec_sync_t *);