--- a/NEWS Wed Mar 07 17:27:25 2007 +0000
+++ b/NEWS Wed Mar 07 17:37:21 2007 +0000
@@ -17,6 +17,9 @@
of the init script to handle device ID lists.
* Realtime interface changes:
- Added ecrt_master_get_status() to get information about the bus.
+ - Added functions to set up an alternative PDO mapping, i. e.
+ ec_slave_pdo_mapping_clear(), ec_slave_pdo_mapping_add() and
+ ec_slave_pdo_mapping().
* Device interface changes:
- Replaced ecdev_register() and ecdev_unregister() with ecdev_offer() and
ecdev_withdraw(), respectively. The device modules now offer all their
--- a/TODO Wed Mar 07 17:27:25 2007 +0000
+++ b/TODO Wed Mar 07 17:37:21 2007 +0000
@@ -17,13 +17,12 @@
* Future features:
- SDO dictionary and -access in operation mode.
- SDO write access in sysfs.
- - Speed up IDLE-FSM through fast mode with schedule().
+ - Speed up IDLE state machine through fast mode with schedule().
- Evaluate EEPROM contents after writing.
- Interface/buffers for asynchronous domain IO.
- Distributed clocks.
- Read dynamic PDO mapping from SDO dictionary (see can-cia.org: cia301ds4).
- Redundancy with 2 network adapters.
- - Interface for alternative PDO mapping.
- Read out CRC counters.
- Optimize alignment of process data.
- Calculate expected working counter for domains.
--- a/examples/mini/mini.c Wed Mar 07 17:27:25 2007 +0000
+++ b/examples/mini/mini.c Wed Mar 07 17:37:21 2007 +0000
@@ -62,10 +62,16 @@
#endif
static void *r_dig_out;
+static void *r_ana_out;
+static void *r_count;
+static void *r_freq;
#if 1
ec_pdo_reg_t domain1_pdos[] = {
- {"4", Beckhoff_EL2004_Outputs, &r_dig_out},
+ {"2", Beckhoff_EL2004_Outputs, &r_dig_out},
+ {"3", Beckhoff_EL4132_Output1, &r_ana_out},
+ {"4", Beckhoff_EL5101_Value, &r_count},
+ {"4", Beckhoff_EL5101_Frequency, &r_freq},
{}
};
#endif
@@ -154,7 +160,7 @@
int __init init_mini_module(void)
{
-#if 0
+#if 1
ec_slave_t *slave;
#endif
@@ -173,6 +179,15 @@
goto out_release_master;
}
+#if 1
+ printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n");
+ if (!(slave = ecrt_master_get_slave(master, "4")))
+ goto out_release_master;
+
+ if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02))
+ goto out_release_master;
+#endif
+
printk(KERN_INFO PFX "Registering PDOs...\n");
#if 1
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
@@ -195,13 +210,16 @@
#endif
#if 0
- if (!(slave = ecrt_master_get_slave(master, "2")))
+ if (!(slave = ecrt_master_get_slave(master, "4")))
goto out_release_master;
if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
goto out_release_master;
#endif
+#if 1
+#endif
+
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
--- a/include/ecrt.h Wed Mar 07 17:27:25 2007 +0000
+++ b/include/ecrt.h Wed Mar 07 17:37:21 2007 +0000
@@ -111,8 +111,8 @@
ecrt_master_get_slave()) */
uint32_t vendor_id; /**< vendor ID */
uint32_t product_code; /**< product code */
- uint16_t pdo_index; /**< PDO index */
- uint8_t pdo_subindex; /**< PDO subindex */
+ uint16_t pdo_entry_index; /**< PDO entry index */
+ uint8_t pdo_entry_subindex; /**< PDO entry subindex */
void **data_ptr; /**< address of the process data pointer */
}
ec_pdo_reg_t;
@@ -121,7 +121,11 @@
Direction type for ecrt_domain_register_pdo_range()
*/
-typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t;
+typedef enum {
+ EC_DIR_OUTPUT,
+ EC_DIR_INPUT
+}
+ec_direction_t;
/******************************************************************************
* Master request functions
@@ -191,6 +195,10 @@
int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,
uint8_t sdo_subindex, uint32_t value);
+void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t);
+int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
+int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
+
/******************************************************************************
* Bitwise read/write macros
*****************************************************************************/
--- a/master/Kbuild Wed Mar 07 17:27:25 2007 +0000
+++ b/master/Kbuild Wed Mar 07 17:37:21 2007 +0000
@@ -37,7 +37,7 @@
ec_master-objs := module.o master.o device.o device_id.o pdo.o sync.o fmmu.o \
slave.o datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o \
- fsm_change.o fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
+ fsm_change.o fsm_coe.o fsm_mapping.o fsm_slave.o fsm_master.o xmldev.o
ifeq ($(EC_DBG_IF),1)
ec_master-objs += debug.o
--- a/master/Makefile.am Wed Mar 07 17:27:25 2007 +0000
+++ b/master/Makefile.am Wed Mar 07 17:37:21 2007 +0000
@@ -47,6 +47,7 @@
fsm_sii.c fsm_sii.h \
fsm_change.c fsm_change.h \
fsm_coe.c fsm_coe.h \
+ fsm_mapping.c fsm_mapping.h \
fsm_slave.c fsm_slave.h \
fsm_master.c fsm_master.h \
globals.h \
--- a/master/domain.c Wed Mar 07 17:27:25 2007 +0000
+++ b/master/domain.c Wed Mar 07 17:37:21 2007 +0000
@@ -182,39 +182,26 @@
/*****************************************************************************/
/**
- Registeres a PDO entry.
- \return 0 in case of success, else < 0
-*/
-
-int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
- ec_slave_t *slave, /**< slave */
- const ec_pdo_t *pdo, /**< PDO */
- const ec_pdo_entry_t *entry,
- /**< PDO registration entry */
- void **data_ptr /**< pointer to the process data
- pointer */
- )
+ * Registers a PDO entry.
+ * \return 0 in case of success, else < 0
+ */
+
+int ec_domain_reg_pdo_entry(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ ec_sync_t *sync, /**< sync manager */
+ const ec_pdo_entry_t *entry, /**< PDO entry to register */
+ void **data_ptr /**< pointer to the process data pointer */
+ )
{
ec_data_reg_t *data_reg;
- const ec_sync_t *sync;
const ec_pdo_t *other_pdo;
const ec_pdo_entry_t *other_entry;
unsigned int bit_offset, byte_offset;
- // Find sync manager for PDO
- if (pdo->sync_index >= slave->sii_sync_count) {
- EC_ERR("No sync manager for PDO 0x%04X:%i.",
- pdo->index, entry->subindex);
- return -1;
- }
- sync = &slave->sii_syncs[pdo->sync_index];
-
// Calculate offset (in sync manager) for process data pointer
bit_offset = 0;
byte_offset = 0;
- list_for_each_entry(other_pdo, &slave->sii_pdos, list) {
- if (other_pdo->sync_index != sync->index) continue;
-
+ list_for_each_entry(other_pdo, &sync->pdos, list) {
list_for_each_entry(other_entry, &other_pdo->entries, list) {
if (other_entry == entry) {
byte_offset = bit_offset / 8;
@@ -231,17 +218,16 @@
return -1;
}
- if (ec_slave_prepare_fmmu(slave, domain, sync)) {
+ if (ec_slave_prepare_fmmu(sync->slave, domain, sync)) {
EC_ERR("FMMU configuration failed.\n");
kfree(data_reg);
return -1;
}
- data_reg->slave = slave;
+ data_reg->slave = sync->slave;
data_reg->sync = sync;
data_reg->sync_offset = byte_offset;
data_reg->data_ptr = data_ptr;
-
list_add_tail(&data_reg->list, &domain->data_regs);
return 0;
@@ -386,7 +372,7 @@
fmmu = &slave->fmmus[j];
if (fmmu->domain == domain) {
fmmu->logical_start_address = base_address + domain->data_size;
- sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
+ sync_size = ec_sync_size(fmmu->sync);
domain->data_size += sync_size;
if (datagram_data_size + sync_size > EC_MAX_DATA_SIZE) {
if (ec_domain_add_datagram(domain, datagram_offset,
@@ -473,33 +459,28 @@
*****************************************************************************/
/**
- Registers a PDO in a domain.
- \return pointer to the slave on success, else NULL
- \ingroup RealtimeInterface
-*/
-
-ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
- /**< EtherCAT domain */
- const char *address,
- /**< ASCII address of the slave,
- see ecrt_master_get_slave() */
- uint32_t vendor_id,
- /**< vendor ID */
- uint32_t product_code,
- /**< product code */
- uint16_t pdo_index,
- /**< PDO index */
- uint8_t pdo_subindex,
- /**< PDO subindex */
- void **data_ptr
- /**< address of the process data
- pointer */
- )
+ * Registers a PDO for a domain.
+ * \return pointer to the slave on success, else NULL
+ * \ingroup RealtimeInterface
+ */
+
+ec_slave_t *ecrt_domain_register_pdo(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ const char *address, /**< ASCII address of the slave,
+ see ecrt_master_get_slave() */
+ uint32_t vendor_id, /**< vendor ID */
+ uint32_t product_code, /**< product code */
+ uint16_t entry_index, /**< PDO entry index */
+ uint8_t entry_subindex, /**< PDO entry subindex */
+ void **data_ptr /**< address of the process data pointer */
+ )
{
ec_slave_t *slave;
ec_master_t *master;
+ ec_sync_t *sync;
const ec_pdo_t *pdo;
const ec_pdo_entry_t *entry;
+ unsigned int i;
master = domain->master;
@@ -507,48 +488,48 @@
if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
- list_for_each_entry(pdo, &slave->sii_pdos, list) {
- list_for_each_entry(entry, &pdo->entries, list) {
- if (entry->index != pdo_index
- || entry->subindex != pdo_subindex) continue;
-
- if (ec_domain_reg_pdo_entry(domain, slave, pdo, entry, data_ptr)) {
- return NULL;
+ for (i = 0; i < slave->sii_sync_count; i++) {
+ sync = &slave->sii_syncs[i];
+ list_for_each_entry(pdo, &sync->pdos, list) {
+ list_for_each_entry(entry, &pdo->entries, list) {
+ if (entry->index != entry_index ||
+ entry->subindex != entry_subindex) continue;
+
+ if (ec_domain_reg_pdo_entry(domain, sync, entry, data_ptr)) {
+ return NULL;
+ }
+
+ return slave;
}
-
- return slave;
- }
- }
-
- EC_ERR("Slave %i does not provide PDO 0x%04X:%i.\n",
- slave->ring_position, pdo_index, pdo_subindex);
+ }
+ }
+
+ EC_ERR("PDO entry 0x%04X:%u is not mapped in slave %u.\n",
+ entry_index, entry_subindex, slave->ring_position);
return NULL;
}
/*****************************************************************************/
/**
- Registeres a bunch of data fields.
- \attention The list has to be terminated with a NULL structure ({})!
- \return 0 in case of success, else < 0
- \ingroup RealtimeInterface
-*/
-
-int ecrt_domain_register_pdo_list(ec_domain_t *domain,
- /**< EtherCAT domain */
- const ec_pdo_reg_t *pdos
- /**< array of PDO registrations */
- )
+ * Registers a bunch of data fields.
+ * \attention The list has to be terminated with a NULL structure ({})!
+ * \return 0 in case of success, else < 0
+ * \ingroup RealtimeInterface
+ */
+
+int ecrt_domain_register_pdo_list(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ const ec_pdo_reg_t *pdos /**< array of PDO registrations */
+ )
{
const ec_pdo_reg_t *pdo;
for (pdo = pdos; pdo->slave_address; pdo++)
if (!ecrt_domain_register_pdo(domain, pdo->slave_address,
- pdo->vendor_id,
- pdo->product_code,
- pdo->pdo_index,
- pdo->pdo_subindex,
- pdo->data_ptr))
+ pdo->vendor_id, pdo->product_code,
+ pdo->pdo_entry_index, pdo->pdo_entry_subindex,
+ pdo->data_ptr))
return -1;
return 0;
--- a/master/fmmu.c Wed Mar 07 17:27:25 2007 +0000
+++ b/master/fmmu.c Wed Mar 07 17:37:21 2007 +0000
@@ -71,9 +71,7 @@
uint8_t *data /**> configuration memory */
)
{
- size_t sync_size;
-
- sync_size = ec_slave_calc_sync_size(fmmu->slave, fmmu->sync);
+ size_t sync_size = ec_sync_size(fmmu->sync);
if (fmmu->slave->master->debug_level) {
EC_DBG("FMMU%u: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_mapping.c Wed Mar 07 17:37:21 2007 +0000
@@ -0,0 +1,367 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT PDO mapping state machine.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_mapping.h"
+
+/*****************************************************************************/
+
+void ec_fsm_mapping_state_start(ec_fsm_mapping_t *);
+void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *);
+void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *);
+void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *);
+void ec_fsm_mapping_state_end(ec_fsm_mapping_t *);
+void ec_fsm_mapping_state_error(ec_fsm_mapping_t *);
+
+void ec_fsm_mapping_next_sync(ec_fsm_mapping_t *);
+
+/*****************************************************************************/
+
+/**
+ * Constructor.
+ */
+
+void ec_fsm_mapping_init(ec_fsm_mapping_t *fsm, /**< mapping state machine */
+ ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
+ )
+{
+ fsm->fsm_coe = fsm_coe;
+ fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
+}
+
+/*****************************************************************************/
+
+/**
+ * Destructor.
+ */
+
+void ec_fsm_mapping_clear(ec_fsm_mapping_t *fsm /**< mapping state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ * Start PDO mapping configuration state machine.
+ */
+
+void ec_fsm_mapping_start(
+ ec_fsm_mapping_t *fsm, /**< mapping state machine */
+ ec_slave_t *slave /**< slave to configure */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_mapping_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ * \return false, if state machine has terminated
+ */
+
+int ec_fsm_mapping_running(
+ const ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ return fsm->state != ec_fsm_mapping_state_end
+ && fsm->state != ec_fsm_mapping_state_error;
+}
+
+/*****************************************************************************/
+
+/**
+ * Executes the current state of the state machine.
+ * If the state machine's datagram is not sent or received yet, the execution
+ * of the state machine is delayed to the next cycle.
+ * \return false, if state machine has terminated
+ */
+
+int ec_fsm_mapping_exec(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ fsm->state(fsm);
+ return ec_fsm_mapping_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * \return true, if the state machine terminated gracefully
+ */
+
+int ec_fsm_mapping_success(
+ const ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ return fsm->state == ec_fsm_mapping_state_end;
+}
+
+/******************************************************************************
+ * PDO mapping state machine
+ *****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_mapping_state_start(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ fsm->dir = EC_DIR_OUTPUT;
+ ec_fsm_mapping_next_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_mapping_next_sync(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ do {
+ if (fsm->dir > EC_DIR_INPUT) {
+ // no more sync managers to configure mappings for
+ fsm->state = ec_fsm_mapping_state_end;
+ return;
+ }
+
+ if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
+ fsm->state = ec_fsm_mapping_state_error;
+ return;
+ }
+ fsm->dir++;
+ }
+ while (!fsm->sync->alt_mapping);
+
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Configuring PDO mapping for SM%u of slave %i.\n",
+ fsm->sync->index, fsm->slave->ring_position);
+ }
+
+ // set mapped PDO count to zero
+ fsm->sdodata.index = 0x1C10 + fsm->sync->index;
+ fsm->sdodata.subindex = 0; // mapped PDO count
+ EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped
+ fsm->sdodata.size = 1;
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);
+
+ fsm->state = ec_fsm_mapping_state_zero_count;
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+ec_pdo_t *ec_fsm_mapping_next_pdo(
+ ec_fsm_mapping_t *fsm, /**< mapping state machine */
+ struct list_head *list /**< current PDO list item */
+ )
+{
+ ec_pdo_t *pdo;
+
+ do {
+ list = list->next;
+ if (list == &fsm->sync->pdos)
+ return NULL; // no next PDO
+ pdo = list_entry(list, ec_pdo_t, list);
+ }
+ while (pdo->sync_index != fsm->sync->index);
+
+ return pdo;
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_mapping_state_zero_count(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ EC_ERR("Failed to clear PDO mapping for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_mapping_state_error;
+ return;
+ }
+
+ // map all PDOs belonging to the current sync manager
+
+ // find first PDO
+ if (!(fsm->pdo = ec_fsm_mapping_next_pdo(
+ fsm, &fsm->sync->pdos))) {
+ if (fsm->slave->master->debug_level)
+ EC_DBG("No PDOs to map for SM%u of slave %u.\n",
+ fsm->sync->index, fsm->slave->ring_position);
+ ec_fsm_mapping_next_sync(fsm);
+ return;
+ }
+
+ // add first PDO to mapping
+ fsm->pdo_count = 1;
+ fsm->sdodata.subindex = fsm->pdo_count;
+ EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
+ fsm->sdodata.size = 2;
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Mapping PDO 0x%04X at position %u.\n",
+ fsm->pdo->index, fsm->sdodata.subindex);
+
+ fsm->state = ec_fsm_mapping_state_add_pdo;
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_mapping_state_add_pdo(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ EC_ERR("Failed to map PDO 0x%04X for SM%u of slave %u.\n",
+ fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
+ fsm->state = ec_fsm_mapping_state_error;
+ return;
+ }
+
+ // find next PDO
+ if (!(fsm->pdo = ec_fsm_mapping_next_pdo(
+ fsm, &fsm->pdo->list))) {
+ // no more PDOs to map. write PDO count
+ fsm->sdodata.subindex = 0;
+ EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
+ fsm->sdodata.size = 1;
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Setting number of mapped PDOs to %u.\n",
+ fsm->pdo_count);
+
+ fsm->state = ec_fsm_mapping_state_pdo_count;
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ return;
+ }
+
+ // add next PDO to mapping
+ fsm->pdo_count++;
+ fsm->sdodata.subindex = fsm->pdo_count;
+ EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
+ fsm->sdodata.size = 2;
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Mapping PDO 0x%04X at position %u.\n",
+ fsm->pdo->index, fsm->sdodata.subindex);
+
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_mapping_state_pdo_count(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ EC_ERR("Failed to set number of mapped PDOs for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_mapping_state_error;
+ return;
+ }
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n",
+ fsm->sync->index, fsm->slave->ring_position);
+
+ // mapping configuration for this sync manager complete.
+ ec_fsm_mapping_next_sync(fsm);
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/**
+ State: ERROR.
+*/
+
+void ec_fsm_mapping_state_error(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+}
+
+/*****************************************************************************/
+
+/**
+ State: END.
+*/
+
+void ec_fsm_mapping_state_end(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_mapping.h Wed Mar 07 17:37:21 2007 +0000
@@ -0,0 +1,83 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT PDO mapping state machine structures.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_MAPPING__
+#define __EC_FSM_MAPPING__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "fsm_coe.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_mapping ec_fsm_mapping_t; /**< \see ec_fsm_slave */
+
+/**
+ * Finite state machine of an EtherCAT slave.
+ */
+
+struct ec_fsm_mapping
+{
+ void (*state)(ec_fsm_mapping_t *); /**< state function */
+ ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
+
+ ec_slave_t *slave; /**< slave the FSM runs on */
+
+ ec_direction_t dir; /**< current PDO direction */
+ ec_sync_t *sync; /**< current sync manager */
+ ec_pdo_t *pdo; /**< current PDO */
+ ec_sdo_data_t sdodata; /**< SDO configuration data */
+ uint16_t sdo_value; /**< SDO value */
+ unsigned int pdo_count;
+};
+
+/*****************************************************************************/
+
+void ec_fsm_mapping_init(ec_fsm_mapping_t *, ec_fsm_coe_t *);
+void ec_fsm_mapping_clear(ec_fsm_mapping_t *);
+
+void ec_fsm_mapping_start(ec_fsm_mapping_t *, ec_slave_t *);
+int ec_fsm_mapping_exec(ec_fsm_mapping_t *);
+int ec_fsm_mapping_success(const ec_fsm_mapping_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/fsm_slave.c Wed Mar 07 17:27:25 2007 +0000
+++ b/master/fsm_slave.c Wed Mar 07 17:37:21 2007 +0000
@@ -42,6 +42,7 @@
#include "master.h"
#include "mailbox.h"
#include "fsm_slave.h"
+#include "fsm_mapping.h"
/*****************************************************************************/
@@ -61,6 +62,7 @@
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);
void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_mapconf(ec_fsm_slave_t *);
void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);
void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
@@ -69,6 +71,7 @@
void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);
void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_mapconf(ec_fsm_slave_t *);
void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);
void ec_fsm_slave_state_end(ec_fsm_slave_t *);
@@ -90,6 +93,7 @@
ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+ ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe);
}
/*****************************************************************************/
@@ -104,6 +108,7 @@
ec_fsm_sii_clear(&fsm->fsm_sii);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_coe_clear(&fsm->fsm_coe);
+ ec_fsm_mapping_clear(&fsm->fsm_map);
}
/*****************************************************************************/
@@ -786,6 +791,107 @@
return;
}
+ ec_fsm_slave_conf_enter_sdoconf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ // No CoE configuration to be applied?
+ if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+ ec_fsm_slave_conf_enter_mapconf(fsm);
+ return;
+ }
+
+ // start SDO configuration
+ fsm->state = ec_fsm_slave_conf_state_sdoconf;
+ fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
+ ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SDOCONF.
+*/
+
+void ec_fsm_slave_conf_state_sdoconf(
+ ec_fsm_slave_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+ EC_ERR("SDO configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ return;
+ }
+
+ // Another SDO to configure?
+ if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
+ fsm->sdodata = list_entry(fsm->sdodata->list.next,
+ ec_sdo_data_t, list);
+ ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+ return;
+ }
+
+ // All SDOs are now configured.
+ ec_fsm_slave_conf_enter_mapconf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_mapconf(
+ ec_fsm_slave_t *fsm /**< slave state machine */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
+ // Slave does not support CoE: no configuration of PDO mapping.
+ ec_fsm_slave_conf_enter_pdo_sync(fsm);
+ return;
+ }
+
+ // start configuring PDO mapping
+ fsm->state = ec_fsm_slave_conf_state_mapconf;
+ ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave);
+ ec_fsm_mapping_exec(&fsm->fsm_map); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: MAPCONF.
+*/
+
+void ec_fsm_slave_conf_state_mapconf(
+ ec_fsm_slave_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_mapping_exec(&fsm->fsm_map)) return;
+
+ if (!ec_fsm_mapping_success(&fsm->fsm_map)) {
+ EC_ERR("PDO mapping configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ return;
+ }
+
ec_fsm_slave_conf_enter_pdo_sync(fsm);
}
@@ -825,8 +931,7 @@
/*****************************************************************************/
/**
- Slave configuration state: SYNC2.
-*/
+ */
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
{
@@ -870,7 +975,7 @@
unsigned int j;
if (!slave->base_fmmu_count) { // skip FMMU configuration
- ec_fsm_slave_conf_enter_sdoconf(fsm);
+ ec_fsm_slave_conf_enter_saveop(fsm);
return;
}
@@ -919,59 +1024,6 @@
return;
}
- ec_fsm_slave_conf_enter_sdoconf(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- */
-
-void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_slave_t *slave = fsm->slave;
-
- // No CoE configuration to be applied? Jump to SAVEOP state.
- if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
- ec_fsm_slave_conf_enter_saveop(fsm);
- return;
- }
-
- // start SDO configuration
- fsm->state = ec_fsm_slave_conf_state_sdoconf;
- fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
- ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: SDOCONF.
-*/
-
-void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- // Another SDO to configure?
- if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
- fsm->sdodata = list_entry(fsm->sdodata->list.next,
- ec_sdo_data_t, list);
- ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
- return;
- }
-
- // All SDOs are now configured.
-
- // set state to SAVEOP
ec_fsm_slave_conf_enter_saveop(fsm);
}
--- a/master/fsm_slave.h Wed Mar 07 17:27:25 2007 +0000
+++ b/master/fsm_slave.h Wed Mar 07 17:37:21 2007 +0000
@@ -48,6 +48,7 @@
#include "fsm_sii.h"
#include "fsm_change.h"
#include "fsm_coe.h"
+#include "fsm_mapping.h"
/*****************************************************************************/
@@ -70,6 +71,7 @@
ec_fsm_sii_t fsm_sii; /**< SII state machine */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_coe_t fsm_coe; /**< CoE state machine */
+ ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine */
};
/*****************************************************************************/
--- a/master/slave.c Wed Mar 07 17:27:25 2007 +0000
+++ b/master/slave.c Wed Mar 07 17:37:21 2007 +0000
@@ -262,7 +262,7 @@
kfree(slave->sii_syncs);
}
- // free all PDOs
+ // free all SII PDOs
list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
list_del(&pdo->list);
ec_pdo_clear(pdo);
@@ -301,7 +301,6 @@
ec_sdo_data_t *sdodata, *next_sdodata;
unsigned int i;
- // remove FMMU configurations
slave->fmmu_count = 0;
slave->pdos_registered = 0;
@@ -379,7 +378,7 @@
/**
*/
-void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */
+void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_state_t state /**< new state */
)
{
@@ -556,6 +555,31 @@
word_count -= 4;
data += 8;
}
+
+ // if sync manager index is positive, the PDO is mapped by default
+ if (pdo->sync_index >= 0) {
+ ec_pdo_t *mapped_pdo;
+
+ if (pdo->sync_index >= slave->sii_sync_count) {
+ EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
+ pdo->sync_index, pdo->index, slave->ring_position);
+ return -1;
+ }
+
+ if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate PDO memory.\n");
+ return -1;
+ }
+
+ if (ec_pdo_copy(mapped_pdo, pdo)) {
+ EC_ERR("Failed to copy PDO.\n");
+ kfree(mapped_pdo);
+ return -1;
+ }
+
+ list_add_tail(&mapped_pdo->list,
+ &slave->sii_syncs[pdo->sync_index].pdos);
+ }
}
return 0;
@@ -762,31 +786,51 @@
off += sprintf(buffer + off, " Order number: %s\n", slave->sii_order);
if (slave->sii_sync_count)
- off += sprintf(buffer + off, "\nSync-Managers:\n");
+ off += sprintf(buffer + off, "\nSync managers / PDO mapping:\n");
for (i = 0; i < slave->sii_sync_count; i++) {
sync = &slave->sii_syncs[i];
- off += sprintf(buffer + off, " %u) 0x%04X, length %i,"
- " control 0x%02X, %s\n",
+ off += sprintf(buffer + off,
+ " SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
- sync->length, sync->control_register,
+ ec_sync_size(sync), sync->control_register,
sync->enable ? "enable" : "disable");
+
+ if (list_empty(&sync->pdos))
+ off += sprintf(buffer + off, " No PDOs mapped.\n");
+
+ list_for_each_entry(pdo, &sync->pdos, list) {
+ off += sprintf(buffer + off, " %s 0x%04X \"%s\"\n",
+ pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
+ pdo->index, pdo->name ? pdo->name : "???");
+
+ list_for_each_entry(pdo_entry, &pdo->entries, list) {
+ off += sprintf(buffer + off,
+ " 0x%04X:%X \"%s\", %i bit\n",
+ pdo_entry->index, pdo_entry->subindex,
+ pdo_entry->name ? pdo_entry->name : "???",
+ pdo_entry->bit_length);
+ }
+ }
}
if (!list_empty(&slave->sii_pdos))
- off += sprintf(buffer + off, "\nPDOs:\n");
+ off += sprintf(buffer + off, "\nAvailable PDOs:\n");
list_for_each_entry(pdo, &slave->sii_pdos, list) {
- off += sprintf(buffer + off,
- " %s \"%s\" (0x%04X), Sync-Manager %i\n",
+ off += sprintf(buffer + off, " %s 0x%04X \"%s\"",
pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
- pdo->name ? pdo->name : "???",
- pdo->index, pdo->sync_index);
+ pdo->index, pdo->name ? pdo->name : "???");
+ if (pdo->sync_index >= 0)
+ off += sprintf(buffer + off, ", default mapping: SM%u.\n",
+ pdo->sync_index);
+ else
+ off += sprintf(buffer + off, ", no default mapping.\n");
list_for_each_entry(pdo_entry, &pdo->entries, list) {
- off += sprintf(buffer + off, " \"%s\" 0x%04X:%X, %i bit\n",
+ off += sprintf(buffer + off, " 0x%04X:%X \"%s\", %i bit\n",
+ pdo_entry->index, pdo_entry->subindex,
pdo_entry->name ? pdo_entry->name : "???",
- pdo_entry->index, pdo_entry->subindex,
pdo_entry->bit_length);
}
}
@@ -1056,42 +1100,6 @@
/*****************************************************************************/
/**
- * Calculates the size of a sync manager by evaluating PDO sizes.
- * \return sync manager size
- */
-
-uint16_t ec_slave_calc_sync_size(
- const ec_slave_t *slave, /**< EtherCAT slave */
- const ec_sync_t *sync /**< sync manager */
- )
-{
- const ec_pdo_t *pdo;
- const ec_pdo_entry_t *pdo_entry;
- unsigned int bit_size, byte_size;
-
- if (sync->length) return sync->length;
- if (sync->est_length) return sync->est_length;
-
- bit_size = 0;
- list_for_each_entry(pdo, &slave->sii_pdos, list) {
- if (pdo->sync_index != sync->index) continue;
-
- list_for_each_entry(pdo_entry, &pdo->entries, list) {
- bit_size += pdo_entry->bit_length;
- }
- }
-
- if (bit_size % 8) // round up to full bytes
- byte_size = bit_size / 8 + 1;
- else
- byte_size = bit_size / 8;
-
- return byte_size;
-}
-
-/*****************************************************************************/
-
-/**
*/
ec_sync_t *ec_slave_get_pdo_sync(
@@ -1101,14 +1109,12 @@
{
unsigned int sync_index;
- switch (dir) {
- case EC_DIR_OUTPUT: sync_index = 0; break;
- case EC_DIR_INPUT: sync_index = 1; break;
- default:
- EC_ERR("Invalid direction!\n");
- return NULL;
- }
-
+ if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
+ EC_ERR("Invalid direction!\n");
+ return NULL;
+ }
+
+ sync_index = (unsigned int) dir;
if (slave->sii_mailbox_protocols) sync_index += 2;
if (sync_index >= slave->sii_sync_count) {
@@ -1279,11 +1285,104 @@
/*****************************************************************************/
+void ecrt_slave_pdo_mapping_clear(
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir /**< output/input */
+ )
+{
+ ec_sync_t *sync;
+
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
+ EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
+ return;
+ }
+
+ if (!(sync = ec_slave_get_pdo_sync(slave, dir)))
+ return;
+
+ ec_sync_clear_pdos(sync);
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_pdo_mapping_add(
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir, /**< input/output */
+ uint16_t pdo_index /**< Index of PDO mapping list */)
+{
+ ec_pdo_t *pdo;
+ ec_sync_t *sync;
+ unsigned int not_found = 1;
+
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
+ EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
+ return -1;
+ }
+
+ // does the slave provide the PDO list?
+ list_for_each_entry(pdo, &slave->sii_pdos, list) {
+ if (pdo->index == pdo_index) {
+ not_found = 0;
+ break;
+ }
+ }
+
+ if (not_found) {
+ EC_ERR("Slave %i does not provide PDO %04X!\n",
+ slave->ring_position, pdo_index);
+ return -1;
+ }
+
+ // check direction
+ if ((pdo->type == EC_TX_PDO && dir == EC_DIR_OUTPUT) ||
+ (pdo->type == EC_RX_PDO && dir == EC_DIR_INPUT)) {
+ EC_ERR("Invalid direction for PDO 0x%04X.\n", pdo_index);
+ return -1;
+ }
+
+
+ if (!(sync = ec_slave_get_pdo_sync(slave, dir)))
+ return -1;
+
+ return ec_sync_add_pdo(sync, pdo);
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir, /**< input/output */
+ unsigned int num_args, /**< Number of following arguments */
+ ... /**< PDO indices to map */
+ )
+{
+ va_list ap;
+
+ ecrt_slave_pdo_mapping_clear(slave, dir);
+
+ va_start(ap, num_args);
+
+ for (; num_args; num_args--) {
+ if (ecrt_slave_pdo_mapping_add(
+ slave, dir, (uint16_t) va_arg(ap, int))) {
+ return -1;
+ }
+ }
+
+ va_end(ap);
+ return 0;
+}
+
+
+/*****************************************************************************/
+
/** \cond */
EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
+EXPORT_SYMBOL(ecrt_slave_pdo_mapping_clear);
+EXPORT_SYMBOL(ecrt_slave_pdo_mapping_add);
+EXPORT_SYMBOL(ecrt_slave_pdo_mapping);
/** \endcond */
--- a/master/slave.h Wed Mar 07 17:27:25 2007 +0000
+++ b/master/slave.h Wed Mar 07 17:37:21 2007 +0000
@@ -60,8 +60,8 @@
/*****************************************************************************/
/**
- State of an EtherCAT slave.
-*/
+ * State of an EtherCAT slave.
+ */
typedef enum
{
@@ -94,8 +94,8 @@
/*****************************************************************************/
/**
- Supported mailbox protocols.
-*/
+ * Supported mailbox protocols.
+ */
enum
{
@@ -110,8 +110,8 @@
/*****************************************************************************/
/**
- EtherCAT slave.
-*/
+ * EtherCAT slave.
+ */
struct ec_slave
{
@@ -204,14 +204,10 @@
// misc.
ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
-uint16_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
-
int ec_slave_is_coupler(const ec_slave_t *);
-
int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t);
-
void ec_slave_sdo_dict_info(const ec_slave_t *,
- unsigned int *, unsigned int *);
+ unsigned int *, unsigned int *);
/*****************************************************************************/
--- a/master/sync.c Wed Mar 07 17:27:25 2007 +0000
+++ b/master/sync.c Wed Mar 07 17:37:21 2007 +0000
@@ -41,6 +41,7 @@
#include "globals.h"
#include "slave.h"
#include "master.h"
+#include "pdo.h"
#include "sync.h"
/*****************************************************************************/
@@ -51,7 +52,7 @@
void ec_sync_init(
ec_sync_t *sync, /**< EtherCAT sync manager */
- const ec_slave_t *slave, /**< EtherCAT slave */
+ ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index /**< sync manager index */
)
{
@@ -59,6 +60,8 @@
sync->index = index;
sync->est_length = 0;
+ INIT_LIST_HEAD(&sync->pdos);
+ sync->alt_mapping = 0;
}
/*****************************************************************************/
@@ -71,6 +74,40 @@
ec_sync_t *sync /**< EtherCAT sync manager */
)
{
+ ec_sync_clear_pdos(sync);
+}
+
+/*****************************************************************************/
+
+/**
+ * Calculates the size of a sync manager by evaluating PDO sizes.
+ * \return sync manager size
+ */
+
+uint16_t ec_sync_size(
+ const ec_sync_t *sync /**< sync manager */
+ )
+{
+ const ec_pdo_t *pdo;
+ const ec_pdo_entry_t *pdo_entry;
+ unsigned int bit_size, byte_size;
+
+ if (sync->length) return sync->length;
+ if (sync->est_length) return sync->est_length;
+
+ bit_size = 0;
+ list_for_each_entry(pdo, &sync->pdos, list) {
+ list_for_each_entry(pdo_entry, &pdo->entries, list) {
+ bit_size += pdo_entry->bit_length;
+ }
+ }
+
+ if (bit_size % 8) // round up to full bytes
+ byte_size = bit_size / 8 + 1;
+ else
+ byte_size = bit_size / 8;
+
+ return byte_size;
}
/*****************************************************************************/
@@ -85,9 +122,7 @@
uint8_t *data /**> configuration memory */
)
{
- size_t sync_size;
-
- sync_size = ec_slave_calc_sync_size(sync->slave, sync);
+ size_t sync_size = ec_sync_size(sync);
if (sync->slave->master->debug_level) {
EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
@@ -103,3 +138,63 @@
}
/*****************************************************************************/
+
+/**
+ */
+
+int ec_sync_add_pdo(
+ ec_sync_t *sync, /**< EtherCAT sync manager */
+ const ec_pdo_t *pdo /**< PDO to map */
+ )
+{
+ ec_pdo_t *mapped_pdo;
+
+ // PDO already mapped?
+ list_for_each_entry(mapped_pdo, &sync->pdos, list) {
+ if (mapped_pdo->index != pdo->index) continue;
+ EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
+ return -1;
+ }
+
+ if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for PDO mapping.\n");
+ return -1;
+ }
+
+ ec_pdo_init(mapped_pdo);
+ if (ec_pdo_copy(mapped_pdo, pdo)) {
+ ec_pdo_clear(mapped_pdo);
+ kfree(mapped_pdo);
+ return -1;
+ }
+
+ // set appropriate sync manager index
+ mapped_pdo->sync_index = sync->index;
+
+ list_add_tail(&mapped_pdo->list, &sync->pdos);
+ sync->alt_mapping = 1;
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_sync_clear_pdos(
+ ec_sync_t *sync /**< EtherCAT sync manager */
+ )
+{
+ ec_pdo_t *pdo, *next;
+
+ // free all mapped PDOs
+ list_for_each_entry_safe(pdo, next, &sync->pdos, list) {
+ list_del(&pdo->list);
+ ec_pdo_clear(pdo);
+ kfree(pdo);
+ }
+
+ sync->alt_mapping = 1;
+}
+
+/*****************************************************************************/
--- a/master/sync.h Wed Mar 07 17:27:25 2007 +0000
+++ b/master/sync.h Wed Mar 07 17:37:21 2007 +0000
@@ -59,26 +59,30 @@
typedef struct
{
- const ec_slave_t *slave; /**< slave, the sync manager belongs to */
+ ec_slave_t *slave; /**< slave, the sync manager belongs to */
unsigned int index; /**< sync manager index */
uint16_t physical_start_address; /**< physical start address */
uint16_t length; /**< data length in bytes */
uint8_t control_register; /**< control register value */
uint8_t enable; /**< enable bit */
- uint16_t est_length; /**< Estimated length. This is no field of the SII,
- but it is used to calculate the length via
- PDO ranges */
+ uint16_t est_length; /**< used to calculate the length via PDO ranges */
+ struct list_head pdos; /**< list of mapped PDOs */
+ unsigned int alt_mapping; /**< alternative mapping configured */
}
ec_sync_t;
/*****************************************************************************/
-void ec_sync_init(ec_sync_t *, const ec_slave_t *, unsigned int);
+void ec_sync_init(ec_sync_t *, ec_slave_t *, unsigned int);
void ec_sync_clear(ec_sync_t *);
+uint16_t ec_sync_size(const ec_sync_t *);
void ec_sync_config(const ec_sync_t *, uint8_t *);
+int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
+void ec_sync_clear_pdos(ec_sync_t *);
+
/*****************************************************************************/
#endif