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Transition delay calculation. TBC...

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This commit is contained in:
Florian Pose
2009-04-30 14:12:47 +00:00
parent 513cd4798c
commit 29eb2d7d06
12 changed files with 312 additions and 88 deletions
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master/slave.c
+131 -6
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@@ -89,22 +89,24 @@ void ec_slave_init(
slave->base_sync_count = 0;
for (i = 0; i < EC_MAX_PORTS; i++) {
slave->base_ports[i] = EC_PORT_NOT_IMPLEMENTED;
slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;
slave->ports[i].dl_link = 0;
slave->ports[i].dl_loop = 0;
slave->ports[i].dl_signal = 0;
slave->ports[i].link.link_up = 0;
slave->ports[i].link.loop_closed = 0;
slave->ports[i].link.signal_detected = 0;
slave->sii.physical_layer[i] = 0xFF;
slave->dc_receive_times[i] = 0U;
slave->ports[i].receive_time = 0U;
slave->next_slave[i] = NULL;
slave->ports[i].next_slave = NULL;
slave->ports[i].delay_to_next_dc = 0U;
}
slave->base_fmmu_bit_operation = 0;
slave->base_dc_supported = 0;
slave->base_dc_range = EC_DC_32;
slave->has_dc_system_time = 0;
slave->transition_delay = 0U;
slave->sii_words = NULL;
slave->sii_nwords = 0;
@@ -740,3 +742,126 @@ void ec_slave_attach_pdo_names(
}
/*****************************************************************************/
/** Calculates the sum of round-trip-times of connected ports 1-3.
*/
uint32_t ec_slave_calc_rtt_sum(
ec_slave_t *slave /**< EtherCAT slave. */
)
{
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;
}
}
return rtt_sum;
}
/*****************************************************************************/
/** Finds the next slave supporting DC delay measurement.
*/
ec_slave_t *ec_slave_find_next_dc_slave(
ec_slave_t *slave /**< EtherCAT slave. */
)
{
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++) {
ec_slave_t *next = slave->ports[i].next_slave;
if (next) {
dc_slave = ec_slave_find_next_dc_slave(next);
if (dc_slave)
break;
}
}
}
return dc_slave;
}
/*****************************************************************************/
/** Calculates the port transition delays.
*/
void ec_slave_calc_port_delays(
ec_slave_t *slave /**< EtherCAT slave. */
)
{
unsigned int i;
ec_slave_t *next, *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;
#if 0
EC_DBG("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
}
}
/*****************************************************************************/
/** Calculates the bus topology; recursion function.
*/
void ec_slave_calc_transition_delays_rec(
ec_slave_t *slave, /**< Current slave. */
uint32_t *delay /**< Sum of delays. */
)
{
unsigned int i;
ec_slave_t *next, *next_dc;
#if 0
EC_DBG("%u: %u\n", slave->ring_position, *delay);
#endif
slave->transition_delay = *delay;
for (i = 1; i < EC_MAX_PORTS; i++) {
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;
#if 0
EC_DBG("%u:%u %u\n", slave->ring_position, i, *delay);
#endif
ec_slave_calc_transition_delays_rec(next_dc, delay);
}
*delay = *delay + slave->ports[0].delay_to_next_dc;
}
/*****************************************************************************/