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Layed out sync manager structures and methods into own files.

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This commit is contained in:
Florian Pose
2007-03-07 13:06:40 +00:00
parent ff176f5542
commit 89dd4e09b6
8 changed files with 221 additions and 48 deletions
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2
master/Kbuild
View File

@@ -35,7 +35,7 @@ include $(src)/../config.kbuild
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o device_id.o pdo.o slave.o \
ec_master-objs := module.o master.o device.o device_id.o pdo.o sync.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

1
master/Makefile.am
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@@ -39,6 +39,7 @@ EXTRA_DIST = \
device.c device.h \
device_id.c device_id.h \
pdo.c pdo.h \
sync.c sync.h \
domain.c domain.h \
doxygen.c \
ethernet.c ethernet.h \

1
master/domain.c
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@@ -207,7 +207,6 @@ int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
pdo->index, entry->subindex);
return -1;
}
sync = &slave->sii_syncs[pdo->sync_index];
// Calculate offset (in sync manager) for process data pointer

16
master/fsm_slave.c
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@@ -657,9 +657,11 @@ void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
/*****************************************************************************/
/**
*/
*/
void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
void ec_fsm_slave_conf_enter_mbox_sync(
ec_fsm_slave_t *fsm /**< slave state machine */
)
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
@@ -693,7 +695,7 @@ void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *fsm /**< slave state mach
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
for (i = 0; i < 2; i++) {
ec_slave_sync_config(slave, &slave->sii_syncs[i],
ec_sync_config(&slave->sii_syncs[i],
datagram->data + EC_SYNC_SIZE * i);
}
@@ -790,9 +792,11 @@ void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine
/*****************************************************************************/
/**
*/
*/
void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
void ec_fsm_slave_conf_enter_pdo_sync(
ec_fsm_slave_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
@@ -809,7 +813,7 @@ void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machi
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
for (i = 0; i < slave->sii_sync_count; i++) {
ec_slave_sync_config(slave, &slave->sii_syncs[i],
ec_sync_config(&slave->sii_syncs[i],
datagram->data + EC_SYNC_SIZE * i);
}

43
master/slave.c
View File

@@ -255,7 +255,13 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
}
// free all sync managers
if (slave->sii_syncs) kfree(slave->sii_syncs);
if (slave->sii_syncs) {
for (i = 0; i < slave->sii_sync_count; i++) {
ec_sync_clear(&slave->sii_syncs[i]);
kfree(&slave->sii_syncs[i]);
}
kfree(slave->sii_syncs);
}
// free all PDOs
list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
@@ -480,22 +486,22 @@ int ec_slave_fetch_sii_syncs(
// sync manager struct is 4 words long
slave->sii_sync_count = word_count / 4;
if (!(slave->sii_syncs = kmalloc(sizeof(ec_sync_t) *
slave->sii_sync_count, GFP_ATOMIC))) {
EC_ERR("Failed to allocate Sync-Manager memory.\n");
if (!(slave->sii_syncs =
kmalloc(sizeof(ec_sync_t) * slave->sii_sync_count,
GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for sync managers.\n");
slave->sii_sync_count = 0;
return -1;
}
for (i = 0; i < slave->sii_sync_count; i++, data += 8) {
sync = &slave->sii_syncs[i];
sync->index = i;
ec_sync_init(sync, slave, i);
sync->physical_start_address = EC_READ_U16(data);
sync->length = EC_READ_U16(data + 2);
sync->control_register = EC_READ_U8 (data + 4);
sync->enable = EC_READ_U8 (data + 6);
sync->est_length = 0;
sync->length = EC_READ_U16(data + 2);
sync->control_register = EC_READ_U8 (data + 4);
sync->enable = EC_READ_U8 (data + 6);
}
return 0;
@@ -761,7 +767,7 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
for (i = 0; i < slave->sii_sync_count; i++) {
sync = &slave->sii_syncs[i];
off += sprintf(buffer + off, " %i: 0x%04X, length %i,"
off += sprintf(buffer + off, " %u) 0x%04X, length %i,"
" control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
sync->length, sync->control_register,
@@ -1051,15 +1057,14 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
/*****************************************************************************/
/**
Calculates the size of a sync manager by evaluating PDO sizes.
\return sync manager size
*/
* 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 */
)
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;

22
master/slave.h
View File

@@ -49,6 +49,7 @@
#include "globals.h"
#include "datagram.h"
#include "pdo.h"
#include "sync.h"
/*****************************************************************************/
@@ -102,26 +103,6 @@ enum
/*****************************************************************************/
/**
Sync manager.
*/
typedef struct
{
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 */
}
ec_sync_t;
/*****************************************************************************/
/**
FMMU configuration.
*/
@@ -232,7 +213,6 @@ int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
// misc.
ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
void ec_slave_sync_config(const ec_slave_t *, const ec_sync_t *, uint8_t *);
void ec_slave_fmmu_config(const ec_slave_t *, const ec_fmmu_t *, uint8_t *);
uint16_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);

105
master/sync.c Normal file
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@@ -0,0 +1,105 @@
/******************************************************************************
*
* $Id$
*
* 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 sync manager methods.
*/
/*****************************************************************************/
#include "globals.h"
#include "slave.h"
#include "master.h"
#include "sync.h"
/*****************************************************************************/
/**
* Constructor.
*/
void ec_sync_init(
ec_sync_t *sync, /**< EtherCAT sync manager */
const ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index /**< sync manager index */
)
{
sync->slave = slave;
sync->index = index;
sync->est_length = 0;
}
/*****************************************************************************/
/**
* Destructor.
*/
void ec_sync_clear(
ec_sync_t *sync /**< EtherCAT sync manager */
)
{
}
/*****************************************************************************/
/**
Initializes a sync manager configuration page with EEPROM data.
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
*/
void ec_sync_config(
const ec_sync_t *sync, /**< sync manager */
uint8_t *data /**> configuration memory */
)
{
size_t sync_size;
sync_size = ec_slave_calc_sync_size(sync->slave, sync);
if (sync->slave->master->debug_level) {
EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
sync->index, sync->physical_start_address,
sync_size, sync->control_register, sync->enable);
}
EC_WRITE_U16(data, sync->physical_start_address);
EC_WRITE_U16(data + 2, sync_size);
EC_WRITE_U8 (data + 4, sync->control_register);
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
}
/*****************************************************************************/

79
master/sync.h Normal file
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@@ -0,0 +1,79 @@
/******************************************************************************
*
* $Id$
*
* 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 sync manager.
*/
/*****************************************************************************/
#ifndef _EC_SYNC_H_
#define _EC_SYNC_H_
#include <linux/list.h>
#include "../include/ecrt.h"
#include "globals.h"
/*****************************************************************************/
/**
* Sync manager.
*/
typedef struct
{
const 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 */
}
ec_sync_t;
/*****************************************************************************/
void ec_sync_init(ec_sync_t *, const ec_slave_t *, unsigned int);
void ec_sync_clear(ec_sync_t *);
void ec_sync_config(const ec_sync_t *, uint8_t *);
/*****************************************************************************/
#endif