Added ecrt_slave_config_idn() method to store SoE IDN configurations.
--- a/NEWS Fri Mar 05 18:02:13 2010 +0100
+++ b/NEWS Fri Mar 05 18:05:35 2010 +0100
@@ -13,6 +13,7 @@
* Added distributed clocks support.
* Added watchdog configuration via application interface (thanks to J. Mohre).
* Added VoE mailbox protocol support.
+* Added SoE mailbox protocol support.
* Improved the callback mechanism. ecrt_master_callbacks() now takes two
callback functions for sending and receiving datagrams.
ecrt_master_send_ext() is used to execute the sending of non-application
--- a/include/ecrt.h Fri Mar 05 18:02:13 2010 +0100
+++ b/include/ecrt.h Fri Mar 05 18:05:35 2010 +0100
@@ -75,6 +75,7 @@
* - Removed 'const' from argument of ecrt_sdo_request_state(), because the
* userspace library has to modify object internals.
* - Added 64-bit data access macros.
+ * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations.
*
* @{
*/
@@ -1134,6 +1135,27 @@
ec_slave_config_state_t *state /**< State object to write to. */
);
+/** Add an SoE IDN configuration.
+ *
+ * A configuration for a Sercos-over-EtherCAT IDN is stored in the slave
+ * configuration object and is written to the slave whenever the slave is
+ * being configured by the master. This usually happens once on master
+ * activation, but can be repeated subsequently, for example after the slave's
+ * power supply failed.
+ *
+ * Please note that the this function does not do any endianess correction.
+ * Data have to be passed in EtherCAT endianess (little-endian).
+ *
+ * \retval 0 Success.
+ * \retval <0 Error code.
+ */
+int ecrt_slave_config_idn(
+ ec_slave_config_t *sc, /**< Slave configuration. */
+ uint16_t idn, /**< SoE IDN. */
+ const uint8_t *data, /**< Pointer to the data. */
+ size_t size /**< Size of the \a data. */
+ );
+
/******************************************************************************
* Domain methods
*****************************************************************************/
--- a/master/fsm_slave_config.c Fri Mar 05 18:02:13 2010 +0100
+++ b/master/fsm_slave_config.c Fri Mar 05 18:05:35 2010 +0100
@@ -54,6 +54,7 @@
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
@@ -71,6 +72,7 @@
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
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(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
@@ -113,6 +115,7 @@
)
{
ec_sdo_request_clear(&fsm->request_copy);
+ ec_soe_request_clear(&fsm->soe_request_copy);
}
/*****************************************************************************/
@@ -759,7 +762,7 @@
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
- ec_fsm_slave_config_enter_pdo_conf(fsm);
+ ec_fsm_slave_config_enter_soe_conf(fsm);
return;
}
@@ -808,6 +811,81 @@
}
// All SDOs are now configured.
+ ec_fsm_slave_config_enter_soe_conf(fsm);
+}
+
+/*****************************************************************************/
+
+/** Check for SoE configurations to be applied.
+ */
+void ec_fsm_slave_config_enter_soe_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
+
+ if (!slave->config) {
+ ec_fsm_slave_config_enter_pdo_sync(fsm);
+ return;
+ }
+
+ // No SoE configuration to be applied?
+ if (list_empty(&slave->config->soe_configs)) { // skip configuration
+ ec_fsm_slave_config_enter_pdo_conf(fsm);
+ return;
+ }
+
+ // start SoE configuration
+ fsm->state = ec_fsm_slave_config_state_soe_conf;
+ fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
+ ec_soe_request_t, list);
+ ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
+ ec_soe_request_write(&fsm->soe_request_copy);
+ ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
+ ec_fsm_soe_exec(fsm_soe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: SOE_CONF.
+ */
+void ec_fsm_slave_config_state_soe_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
+
+ if (ec_fsm_soe_exec(fsm_soe)) {
+ return;
+ }
+
+ if (!ec_fsm_soe_success(fsm_soe)) {
+ EC_ERR("SoE configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ if (!fsm->slave->config) { // config removed in the meantime
+ ec_fsm_slave_config_reconfigure(fsm);
+ return;
+ }
+
+ // Another IDN to configure?
+ if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
+ fsm->soe_request = list_entry(fsm->soe_request->list.next,
+ ec_soe_request_t, list);
+ ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
+ ec_soe_request_write(&fsm->soe_request_copy);
+ ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
+ ec_fsm_soe_exec(fsm_soe); // execute immediately
+ return;
+ }
+
+ // All SDOs are now configured.
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
--- a/master/fsm_slave_config.h Fri Mar 05 18:02:13 2010 +0100
+++ b/master/fsm_slave_config.h Fri Mar 05 18:05:35 2010 +0100
@@ -63,6 +63,8 @@
unsigned int retries; /**< Retries on datagram timeout. */
ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
ec_sdo_request_t request_copy; /**< Copied SDO request. */
+ ec_soe_request_t *soe_request; /**< SDO request for SDO configuration. */
+ ec_soe_request_t soe_request_copy; /**< Copied SDO request. */
unsigned long jiffies_start; /**< For timeout calculations. */
unsigned int take_time; /**< Store jiffies after datagram reception. */
};
--- a/master/slave_config.c Fri Mar 05 18:02:13 2010 +0100
+++ b/master/slave_config.c Fri Mar 05 18:05:35 2010 +0100
@@ -86,6 +86,7 @@
INIT_LIST_HEAD(&sc->sdo_configs);
INIT_LIST_HEAD(&sc->sdo_requests);
INIT_LIST_HEAD(&sc->voe_handlers);
+ INIT_LIST_HEAD(&sc->soe_configs);
}
/*****************************************************************************/
@@ -101,6 +102,7 @@
unsigned int i;
ec_sdo_request_t *req, *next_req;
ec_voe_handler_t *voe, *next_voe;
+ ec_soe_request_t *soe, *next_soe;
ec_slave_config_detach(sc);
@@ -128,6 +130,13 @@
ec_voe_handler_clear(voe);
kfree(voe);
}
+
+ // free all SoE configurations
+ list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {
+ list_del(&soe->list);
+ ec_soe_request_clear(soe);
+ kfree(soe);
+ }
}
/*****************************************************************************/
@@ -950,6 +959,46 @@
/*****************************************************************************/
+int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
+ const uint8_t *data, size_t size)
+{
+ ec_slave_t *slave = sc->slave;
+ ec_soe_request_t *req;
+ int ret;
+
+ if (sc->master->debug_level)
+ EC_DBG("ecrt_slave_config_idn(sc = 0x%p, idn = 0x%04X, "
+ "data = 0x%p, size = %zu)\n", sc, idn, data, size);
+
+ if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
+ EC_ERR("Slave %u does not support SoE!\n", slave->ring_position);
+ return -EPROTONOSUPPORT; // protocol not supported
+ }
+
+ if (!(req = (ec_soe_request_t *)
+ kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for IDN configuration!\n");
+ return -ENOMEM;
+ }
+
+ ec_soe_request_init(req);
+ ec_soe_request_set_idn(req, idn);
+
+ ret = ec_soe_request_copy_data(req, data, size);
+ if (ret < 0) {
+ ec_soe_request_clear(req);
+ kfree(req);
+ return ret;
+ }
+
+ down(&sc->master->master_sem);
+ list_add_tail(&req->list, &sc->soe_configs);
+ up(&sc->master->master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
@@ -969,6 +1018,7 @@
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler);
EXPORT_SYMBOL(ecrt_slave_config_state);
+EXPORT_SYMBOL(ecrt_slave_config_idn);
/** \endcond */
--- a/master/slave_config.h Fri Mar 05 18:02:13 2010 +0100
+++ b/master/slave_config.h Fri Mar 05 18:05:35 2010 +0100
@@ -77,6 +77,7 @@
struct list_head sdo_configs; /**< List of SDO configurations. */
struct list_head sdo_requests; /**< List of SDO requests. */
struct list_head voe_handlers; /**< List of VoE handlers. */
+ struct list_head soe_configs; /**< List of SoE configurations. */
};
/*****************************************************************************/