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Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"

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-> "Pdo mapping"; created ecrt_slave_config_pdo_assign_clear() and
ecrt_slave_config_pdo_mapping_clear().
This commit is contained in:
Florian Pose
2008-04-03 13:34:13 +00:00
parent 208fc51910
commit 593a5fda9c
28 changed files with 981 additions and 926 deletions
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include/ecrt.h
+102 -70
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@@ -37,10 +37,10 @@
*
* \defgroup RealtimeInterface EtherCAT Realtime Interface
*
* EtherCAT interface for realtime modules. This interface is designed for
* realtime modules that want to use EtherCAT. There are functions to request
* a master, to map process data, to communicate with slaves via CoE and to
* configure and activate the bus.
* EtherCAT interface for realtime applications. This interface is designed
* for realtime modules that want to use EtherCAT. There are functions to
* request a master, to map process data, to communicate with slaves via CoE
* and to configure and activate the bus.
*
* Changes in Version 1.4:
*
@@ -64,11 +64,12 @@
* is directly usable. If the domain's process data is allocated internally,
* the start address can be retrieved with ecrt_domain_data().
* - Replaced ecrt_slave_pdo_mapping/add/clear() with
* ecrt_slave_config_pdo() to add a Pdo to the mapping and
* ecrt_slave_config_pdo_entry() to add a Pdo entry to a Pdo configuration.
* ecrt_slave_config_mapping() is a convenience function for
* both, that uses the new data types ec_pdo_info_t and ec_pdo_entry_info_t.
* Mapped Pdo entries can now immediately be registered.
* ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
* assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
* Pdo's mapping. ecrt_slave_config_pdos() is a convenience function
* for both, that uses the new data types ec_pdo_info_t and
* ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions
* can now immediately be registered, even if the bus is offline.
* - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
* ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
* ecrt_master_state(), for consistency reasons.
@@ -122,11 +123,11 @@
/*****************************************************************************/
/** End of mapping.
/** End of the Pdo list.
*
* This is used in ecrt_slave_config_mapping().
* This is used in ecrt_slave_config_pdos().
*/
#define EC_MAP_END ~0U
#define EC_END ~0U
/******************************************************************************
* Data types
@@ -149,6 +150,9 @@ typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
/** Bus state.
*
* This is used in ec_master_state_t.
*
* \deprecated
* \todo remove
*/
typedef enum {
EC_BUS_FAILURE = -1, /**< At least one configured slave is offline. */
@@ -214,9 +218,10 @@ typedef enum {
/*****************************************************************************/
/** Pdo entry mapping.
/** Pdo entry information.
*
* \see ecrt_slave_config_mapping().
* This can be used to map multiple Pdo entries into a given Pdo using
* ecrt_slave_config_pdos().
*/
typedef struct {
uint16_t index; /**< Index of the Pdo entry to add to the Pdo
@@ -230,17 +235,17 @@ typedef struct {
/** Pdo information.
*
* \see ecrt_slave_config_mapping().
* This can be use to assign multiple Pdos to a sync manager using
* ecrt_slave_config_pdos().
*/
typedef struct {
ec_direction_t dir; /**< Pdo direction (input/output). */
uint16_t index; /**< Index of the Pdo to map. */
unsigned int n_entries; /**< Number of Pdo entries for the Pdo
configuration. Zero means, that the default Pdo
configuration shall be used. */
ec_pdo_entry_info_t *entries; /**< Pdo configuration array. This
array must contain at least \a
n_entries values. */
unsigned int n_entries; /**< Number of Pdo entries in \a entries to map.
Zero means, that the default mapping shall be
used. */
ec_pdo_entry_info_t *entries; /**< Array of Pdo entries to map. This must
contain at least \a n_entries values. */
} ec_pdo_info_t;
/*****************************************************************************/
@@ -358,27 +363,38 @@ ec_slave_config_t *ecrt_master_slave_config(
uint32_t product_code /**< Expected product code. */
);
/** Applies the bus configuration and switches to realtime mode.
/** Finishes the configuration phase and prepares for realtime mode.
*
* Does the complete configuration and activation for all slaves. Sets sync
* managers and FMMUs, and does the appropriate transitions, until the slave
* is operational.
* This function has to be called after all Pdo entries are registered. It
* tells the master that the configuration phase is finished and the realtime
* operation will begin. The function allocates internal memory for the
* domains and calculates the logical FMMU addresses for domain members. It
* tells the master state machine that the bus configuration is now to be
* applied.
*
* \attention After this function has been called, the realtime application is
* in charge of cyclically calling ecrt_master_send() and
* ecrt_master_receive() to ensure bus communication. Before calling this
* function, the master thread is responsible for that, so these functions may
* not be called!
*
* \return 0 in case of success, else < 0
*/
int ecrt_master_activate(
ec_master_t *master /**< EtherCAT master. */
);
int ecrt_master_activate( ec_master_t *master /**< EtherCAT master. */);
/** Sends all datagrams in the queue.
*
* \todo doc
* This has to be called cyclically by the realtime application after
* ecrt_master_activate() has returned.
*/
void ecrt_master_send(
ec_master_t *master /**< EtherCAT master. */
);
/** Fetches received frames from the hardware and processes the datagrams.
*
* This has to be called cyclically by the realtime application after
* ecrt_master_activate() has returned.
*/
void ecrt_master_receive(
ec_master_t *master /**< EtherCAT master. */
@@ -397,48 +413,64 @@ void ecrt_master_state(
* Slave configuration methods
*****************************************************************************/
/** Add a Pdo to the slave's Pdo mapping for the given direction.
/** Add a Pdo to a sync manager's Pdo assignment.
*
* The first call of this function for a given \a dir will clear the default
* mapping.
*
* \see ecrt_slave_config_mapping()
* \see ecrt_slave_config_pdos()
* \return zero on success, else non-zero
*/
int ecrt_slave_config_pdo(
int ecrt_slave_config_pdo_assign_add(
ec_slave_config_t *sc, /**< Slave configuration. */
ec_direction_t dir, /**< Pdo direction (input/output). */
uint16_t index /**< Index of the Pdo to map. */
ec_direction_t dir, /**< Sync manager direction (input/output). */
uint16_t index /**< Index of the Pdo to assign. */
);
/** Add a Pdo entry to the given Pdo's configuration.
/** Clear a sync manager's Pdo assignment.
*
* The first call of this function for a given \a pdo_index will clear the
* default Pdo configuration.
* This can be called before assigning Pdos via
* ecrt_slave_config_pdo_assign_add(), to clear the default assignment.
*/
void ecrt_slave_config_pdo_assign_clear(
ec_slave_config_t *sc, /**< Slave configuration. */
ec_direction_t dir /**< Sync manager direction (input/output). */
);
/** Add a Pdo entry to the given Pdo's mapping.
*
* \see ecrt_slave_config_mapping()
* \see ecrt_slave_config_pdos()
* \return zero on success, else non-zero
*/
int ecrt_slave_config_pdo_entry(
int ecrt_slave_config_pdo_mapping_add(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index, /**< Index of the Pdo to configure. */
uint16_t pdo_index, /**< Index of the Pdo. */
uint16_t entry_index, /**< Index of the Pdo entry to add to the Pdo's
configuration. */
mapping. */
uint8_t entry_subindex, /**< Subindex of the Pdo entry to add to the
Pdo's configuration. */
Pdo's mapping. */
uint8_t entry_bit_length /**< Size of the Pdo entry in bit. */
);
/** Specify the Pdo mapping and (optionally) the Pdo configuration.
/** Clear the mapping of a given Pdo.
*
* This function is a convenience function for the ecrt_slave_config_pdo()
* and ecrt_slave_config_pdo_entry() functions, that are better suitable
* for automatic code generation.
* This can be called before mapping Pdo entries via
* ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.
*/
void ecrt_slave_config_pdo_mapping_clear(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index /**< Index of the Pdo. */
);
/** Specify the Pdo assignment and (optionally) the Pdo mappings.
*
* The following example shows, how to specify a complete Pdo mapping
* including the Pdo configuration. With this information, the master is able
* to reserve the complete process data, even if the slave is not present
* at configuration time:
* This function is a convenience wrapper for the functions
* ecrt_slave_config_pdo_assign_clear(), ecrt_slave_config_pdo_assign_add(),
* ecrt_slave_config_pdo_mapping_clear() and
* ecrt_slave_config_pdo_mapping_add(), that are better suitable for automatic
* code generation.
*
* The following example shows, how to specify a complete Pdo assignment
* including the Pdo mappings. With this information, the master is able to
* reserve the complete process data, even if the slave is not present at
* configuration time:
*
* \code
* const ec_pdo_entry_info_t el3162_channel1[] = {
@@ -451,52 +483,52 @@ int ecrt_slave_config_pdo_entry(
* {0x3102, 2, 16} // value
* };
*
* const ec_pdo_info_t el3162_mapping[] = {
* const ec_pdo_info_t el3162_pdos[] = {
* {EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
* {EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
* };
*
* if (ecrt_slave_config_mapping(sc, 2, el3162_mapping))
* if (ecrt_slave_config_pdos(sc, 2, el3162_pdos))
* return -1; // error
* \endcode
*
* The next example shows, how to configure only the Pdo mapping. The entries
* for each mapped Pdo are taken from the default Pdo configuration. Please
* note, that Pdo entry registration will fail, if the Pdo configuration is
* left empty and the slave is offline.
*
* The next example shows, how to configure only the Pdo assignment. The
* entries for each assigned Pdo are taken from the Pdo's default mapping.
* Please note, that Pdo entry registration will fail, if the Pdo
* configuration is left empty and the slave is offline.
*
* \code
* const ec_pdo_info_t pdo_mapping[] = {
* const ec_pdo_info_t pdos[] = {
* {EC_DIR_INPUT, 0x1600}, // Channel 1
* {EC_DIR_INPUT, 0x1601} // Channel 2
* };
*
* if (ecrt_slave_config_mapping(slave_config_ana_in, 2, pdo_mapping))
* if (ecrt_slave_config_pdos(slave_config_ana_in, 2, pdos))
* return -1; // error
* \endcode
*
* Processing of \a pdo_infos will stop, if
* - the number of processed items reaches \a n_infos, or
* - the \a dir member of an ec_pdo_info_t item is EC_MAP_END. In this case,
* - the \a dir member of an ec_pdo_info_t item is EC_END. In this case,
* \a n_infos should set to a number greater than the number of list items;
* using EC_MAP_END is recommended.
* using EC_END is recommended.
*
* \return zero on success, else non-zero
*/
int ecrt_slave_config_mapping(
int ecrt_slave_config_pdos(
ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int n_infos, /**< Number of Pdo infos in \a pdo_infos. */
const ec_pdo_info_t pdo_infos[] /**< List with Pdo mapping. */
const ec_pdo_info_t pdo_infos[] /**< List with Pdos. */
);
/** Registers a Pdo entry for process data exchange in a domain.
*
* Searches the current mapping and Pdo configurations for the given Pdo
* Searches the current Pdo assignment and Pdo mappings for the given Pdo
* entry. An error is raised, if the given entry is not mapped. Otherwise, the
* corresponding sync manager and FMMU configurations are provided for slave
* configuration and the respective sync manager's Pdos are appended to the
* given domain, if not already done. The offset of the requested Pdo entry's
* data inside the domain's process data is returned.
* configuration and the respective sync manager's assigned Pdos are appended
* to the given domain, if not already done. The offset of the requested Pdo
* entry's data inside the domain's process data is returned.
*
* \retval >=0 Success: Offset of the Pdo entry's process data.
* \retval -1 Error: Pdo entry not found.