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Prcess data; slave configuration + attachment; typos.

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Florian Pose
2008-10-22 10:31:34 +00:00
parent aa5ff8dbcc
commit ca5061baa3
4 changed files with 295 additions and 101 deletions
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239
documentation/ethercat_doc.tex
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@@ -446,7 +446,7 @@ to $0$.
\label{fig:masters}
\end{figure}
\paragraph{Init script}
\paragraph{Init Script}
\index{Init script}
In most cases it is not necessary to load the master module and the Ethernet
@@ -455,9 +455,9 @@ be started as a service (see sec.~\ref{sec:system}).
\paragraph{Syslog}
The master module outputs information about it's state and events to the
kernel ring buffer. These also end up in the system logs. The above module
loading command should result in the messages below:
The master module outputs information about its state and events to the kernel
ring buffer. These also end up in the system logs. The above module loading
command should result in the messages below:
\begin{lstlisting}
# `\textbf{dmesg | tail -2}`
@@ -475,88 +475,86 @@ searching the logs easier.
%------------------------------------------------------------------------------
\section{Handling of Process Data} % FIXME
\section{Process Data}
\label{sec:processdata}
\ldots
This section shall introduce a few terms and ideas how the master handles
process data.
\paragraph{Process Data Image}
\index{Process data}
The slaves offer their inputs and outputs by presenting the master so-called
``Process Data Objects'' (Pdos\index{Pdo}). The available Pdos can be
determined by reading out the slave's TXPDO and RXPDO E$^2$PROM categories.
The application can register the Pdos for data exchange during cyclic
operation. The sum of all registered Pdos defines the ``process data image'',
which is exchanged via the ``Logical ReadWrite'' datagrams introduced
in~\cite[sec.~5.4.2.4]{dlspec}.
Slaves offer their inputs and outputs by presenting the master so-called
``Process Data Objects'' (Pdos\index{Pdo}). The available Pdos can be either
determined by reading out the slave's TXPDO and RXPDO SII categories from the
E$^2$PROM (in case of fixed Pdos) or by reading out the appropriate CoE
objects (see sec.~\ref{sec:coe}), if available. The application can register
the Pdos' entries for exchange during cyclic operation. The sum of all
registered Pdo entries defines the ``process data image'', which is exchanged
via datagrams with ``logical'' memory access (like LWR, LRD or LRW) introduced
in~\cite[sec.~5.4]{dlspec}.
\paragraph{Process Data Domains}
\index{Domain}
The process data image can be easily managed by creating so-called
``domains'', which group Pdos and allocate the datagrams needed to
exchange them. Domains are mandatory for process data exchange, so
there has to be at least one. They were introduced for the following
reasons:
``domains'', which allow grouped Pdo exchange. They also take care of managing
the datagram structures needed to exchange the Pdos. Domains are mandatory for
process data exchange, so there has to be at least one. They were introduced
for the following reasons:
\begin{itemize}
\item The maximum size of a ``Logical ReadWrite'' datagram is limited
due to the limited size of an Ethernet frame: The maximum data size
is the Ethernet data field size minus the EtherCAT frame header,
EtherCAT datagram header and EtherCAT datagram footer: $1500 - 2 -
12 - 2 = 1484$ octets. If the size of the process data image exceeds
this limit, multiple frames have to be sent, and the image has to be
partitioned for the use of multiple datagrams. A domain manages this
automatically.
\item Not every Pdo has to be exchanged with the same frequency: The
values of Pdos can vary slowly over time (for example temperature
values), so exchanging them with a high frequency would just waste
bus bandwidth. For this reason, multiple domains can be created, to
group different Pdos and so allow separate exchange.
\item The maximum size of a datagram is limited due to the limited size of an
Ethernet frame: The maximum data size is the Ethernet data field size minus
the EtherCAT frame header, EtherCAT datagram header and EtherCAT datagram
footer: $1500 - 2 - 12 - 2 = 1484$ octets. If the size of the process data
image exceeds this limit, multiple frames have to be sent, and the image has
to be partitioned for the use of multiple datagrams. A domain manages this
automatically.
\item Not every Pdo has to be exchanged with the same frequency: The values of
Pdos can vary slowly over time (for example temperature values), so exchanging
them with a high frequency would just waste bus bandwidth. For this reason,
multiple domains can be created, to group different Pdos and so allow separate
exchange.
\end{itemize}
There is no upper limit for the number of domains, but each domain
occupies one FMMU in each slave involved, so the maximum number of
domains is also limited by the slaves' capabilities.
There is no upper limit for the number of domains, but each domain occupies
one FMMU in each slave involved, so the maximum number of domains is de facto
limited by the slaves.
\paragraph{FMMU Configuration}
\index{FMMU!Configuration}
An application can register Pdos for process data exchange. Every Pdo is part
of a memory area in the slave's physical memory, that is protected by a sync
manager \cite[sec.~6.7]{dlspec} for synchronized access. In order to make a
sync manager react on a datagram accessing its memory, it is necessary to
access the last byte covered by the sync manager. Otherwise the sync manager
will not react on the datagram and no data will be exchanged. That is why the
whole synchronized memory area has to be included into the process data image:
For example, if a certain Pdo of a slave is registered for exchange with a
certain domain, one FMMU will be configured to map the complete
sync-manager-protected memory, the Pdo resides in. If a second Pdo of the same
slave is registered for process data exchange within the same domain, and this
Pdo resides in the same sync-manager-protected memory as the first Pdo, the
FMMU configuration is not touched, because the appropriate memory is already
part of the domain's process data image. If the second Pdo belongs to another
sync-manager-protected area, this complete area is also included into the
domains process data image. See figure~\ref{fig:fmmus} for an overview, how
FMMU's are configured to map physical memory to logical process data images.
An application can register Pdo entries for exchange. Every Pdo entry and its
parent Pdo is part of a memory area in the slave's physical memory, that is
protected by a sync manager \cite[sec.~6.7]{dlspec} for synchronized access.
In order to make a sync manager react on a datagram accessing its memory, it
is necessary to access the last byte covered by the sync manager. Otherwise
the sync manager will not react on the datagram and no data will be exchanged.
That is why the whole synchronized memory area has to be included into the
process data image: For example, if a certain Pdo entry of a slave is
registered for exchange with a certain domain, one FMMU will be configured to
map the complete sync-manager-protected memory, the Pdo entry resides in. If a
second Pdo entry of the same slave is registered for process data exchange
within the same domain, and it resides in the same sync-manager-protected
memory as the first one, the FMMU configuration is not altered, because the
desired memory is already part of the domain's process data image. If the
second Pdo entry would belong to another sync-manager-protected area, this
complete area would also be included into the domains process data image.
Figure~\ref{fig:fmmus} gives an overview, how FMMUs are configured to map
physical memory to logical process data images.
\begin{figure}[htbp]
\centering
\includegraphics[width=\textwidth]{images/fmmus}
\caption{FMMU configuration for several domains}
\caption{FMMU Configuration}
\label{fig:fmmus}
\end{figure}
\paragraph{Process Data Pointers} % FIXME
The figure also demonstrates the way, the application can access the exchanged
process data: At Pdo registration, the application has to provide the address
of a process data pointer. Upon calculation of the domain image and allocation
of process data memory, this pointer is redirected to the appropriate location
inside the domain's process data memory and can later be easily dereferenced by
the module code.
%------------------------------------------------------------------------------
\chapter{Application Interface}
@@ -579,7 +577,7 @@ The application interface provides functions and data structures for
applications to access an EtherCAT master. The complete documentation of the
interface is included as Doxygen~\cite{doxygen} comments in the header file
\textit{include/ecrt.h}. It can either be read directly from the file
comments, or as a more comfortable HTML documentation. The generation is
comments, or as a more comfortable HTML documentation. The HTML generation is
described in sec.~\ref{sec:gendoc}.
The following sections cover a general description of the application
@@ -590,18 +588,15 @@ Every application should use the master in two steps:
\begin{description}
\item[Configuration] The master is requested and the configuration is applied.
Domains are created Slaves are configured and Pdo entries are registered (see
sec.~\ref{sec:masterconfig}).
For example, domains are created, slaves are configured and Pdo entries are
registered (see sec.~\ref{sec:masterconfig}).
\item[Operation] Cyclic code is run, process data is exchanged (see
sec.~\ref{sec:cyclic}). To enter operation mode, the master has to be
``activated'' to calculate the process data image and apply the bus
configuration for the first time. After activation, the application is in
charge to send and receive frames.
\item[Operation] Cyclic code is run and process data are exchanged (see
sec.~\ref{sec:cyclic}).
\end{description}
\paragraph{Example Applications} \index{Example Applications} There are a few
\paragraph{Example Applications}\index{Example Applications} There are a few
example applications in the \textit{examples/} subdirectory of the master
code. They are documented in the source code.
@@ -610,8 +605,9 @@ code. They are documented in the source code.
\section{Master Configuration}
\label{sec:masterconfig}
\ldots
% FIXME Attaching
The bus configuration is supplied via the application interface.
Figure~\ref{fig:app-config} gives an overview of the objects, that can be
configured by the application.
\begin{figure}[htbp]
\centering
@@ -620,14 +616,95 @@ code. They are documented in the source code.
\label{fig:app-config}
\end{figure}
\subsection{Slave Configuration}
The application has to tell the master about the expected bus topology. This
can be done by creating ``slave configurations''. A slave configuration can be
seen as an expected slave. When a slave configuration is created, the
application provides the bus position (see below), vendor id and product code.
When the bus configuration is applied, the master checks, if there is a slave
with the given vendor id and product code at the given position. If this is
the case, the slave configuration is ``attached'' to the real slave on the bus
and the slave is configured according to the settings provided by the
application. The state of a slave configuration can either be queried via the
application interface or via the command-line tool (see
sec.~\ref{sec:ethercat-config}).
\paragraph{Slave Position} The slave position has to be specified as a tuple
of ``alias`` and ``position''. This allows addressing slaves either via an
absolute bus position, or a stored identifier called ``alias'', or a mixture
of both. The alias is a 16-bit value stored in the slave's E$^2$PROM. It can
be modified via the command-line tool (see sec.~\ref{sec:ethercat-alias}).
Table~\ref{tab:slaveposition} shows, how the values are interpreted.
\begin{table}[htbp]
\centering
\caption{Specifying a Slave Position}
\label{tab:slaveposition}
\vspace{2mm}
\begin{tabular}{c|c|p{70mm}}
Alias & Position & Interpretation\\
\hline
\lstinline+0+ & \lstinline+0+ -- \lstinline+65535+ &
Position addressing. The position parameter is interpreted as the absolute
ring position in the bus.\\ \hline
\lstinline+1+ -- \lstinline+65535+ & \lstinline+0+ -- \lstinline+65535+ &
Alias addressing. The position parameter is interpreted as relative
position after the first slave with the given alias address. \\ \hline
\end{tabular}
\end{table}
Figure~\ref{fig:attach} shows an example of how slave configurations are
attached. Some of the configurations were attached, while others remain
detached. The below lists gives the reasons beginning with the top slave
configuration.
\begin{figure}[htbp]
\centering
\includegraphics[width=.7\textwidth]{images/attach}
\caption{Slave Configuration Attachment}
\label{fig:attach}
\end{figure}
\begin{enumerate}
\item A zero alias means to use simple position addressing. Slave 1 exists and
vendor id and product code match the expected values.
\item Although the slave with position 0 is found, the product code does not
match, so the configuration is not attached.
\item The alias is non-zero, so alias addressing is used. Slave 2 is the first
slave with alias \lstinline+0x2000+. Because the position value is zero, the
same slave is used.
\item There is no slave with the given alias, so the configuration can not be
attached.
\item Slave 2 is again the first slave with the alias \lstinline+0x2000+, but
position is now 1, so slave 3 is attached.
\end{enumerate}
%------------------------------------------------------------------------------
\section{Cyclic Operation}
\label{sec:cyclic}
\ldots
% FIXME PDOS endianess
To enter cyclic operation mode, the master has to be ``activated'' to
calculate the process data image and apply the bus configuration for the first
time. After activation, the application is in charge to send and receive
frames.
% TODO PDOS endianess
% TODO Datagram injection
%------------------------------------------------------------------------------
@@ -1607,8 +1684,8 @@ FSM is executed to read the Pdo's mapped Pdo entries.
\paragraph{Pdo Entry Reading FSM} This state machine
(fig.~\ref{fig:fsm-pdo-entry-read}) reads the Pdo mapping (the Pdo entries) of
a Pdo. It reads the respective mapping Sdo (\lstinline+0x1600+ -
\lstinline+0x17ff+, or \lstinline+0x1a00+ - \lstinline+0x1bff+) for the given
a Pdo. It reads the respective mapping Sdo (\lstinline+0x1600+ --
\lstinline+0x17ff+, or \lstinline+0x1a00+ -- \lstinline+0x1bff+) for the given
Pdo by reading first the subindex zero (number of elements) to determine the
number of mapped Pdo entries. After that, each subindex is read to get the
mapped Pdo entry index, subindex and bit size.
@@ -1660,8 +1737,9 @@ slave. These interfaces are called either
\begin{description}
\item[eoeXsY] for a slave without an alias address (see sec.~\ref{sec:alias}),
where X is the master index and Y is the slave's ring position, or
\item[eoeXsY] for a slave without an alias address (see
sec.~\ref{sec:ethercat-alias}), where X is the master index and Y is the
slave's ring position, or
\item[eoeXaY] for a slave with a non-zero alias address, where X is the master
index and Y is the decimal alias address.
@@ -1955,13 +2033,14 @@ sec.~\ref{sec:autonode} for how to install and configure it.
%------------------------------------------------------------------------------
\subsection{Setting Alias Addresses}
\label{sec:alias} % FIXME
\label{sec:ethercat-alias}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_alias}
%------------------------------------------------------------------------------
\subsection{Displaying the Bus Configuration}
\label{sec:ethercat-config}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_config}
@@ -2556,7 +2635,9 @@ $ `\textbf{make doc}`
\end{lstlisting}
The interface documentation can be viewed by pointing a browser to the file
\textit{doxygen-output/html/index.html}.
\textit{doxygen-output/html/index.html}. The functions and data structures of
the application interface a covered by an own module ``Application
Interface''.
\section{Installing the Software}

1
documentation/images/Makefile
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@@ -7,6 +7,7 @@
FIGS := \
app-config.fig \
architecture.fig \
attach.fig \
fmmus.fig \
fsm-coedown.fig \
fsm-eoe.fig \

129
documentation/images/attach.fig Normal file
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@@ -0,0 +1,129 @@
#FIG 3.2
Portrait
Center
Metric
A4
100.00
Single
-2
1200 2
6 450 900 2475 1575
2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
450 900 2475 900 2475 1575 450 1575 450 900
4 0 0 50 -1 16 12 0.0000 4 135 660 495 1080 Vendor:\001
4 0 0 50 -1 16 12 0.0000 4 135 690 495 1305 Product:\001
4 0 0 50 -1 16 12 0.0000 4 135 465 495 1530 Alias:\001
4 0 0 50 -1 16 12 0.0000 4 135 1035 1350 1080 0x00000001\001
4 0 0 50 -1 16 12 0.0000 4 135 1035 1350 1305 0x00000001\001
4 0 0 50 -1 16 12 0.0000 4 135 615 1350 1530 0x0000\001
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6 450 2025 2475 2700
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450 2025 2475 2025 2475 2700 450 2700 450 2025
4 0 0 50 -1 16 12 0.0000 4 135 660 495 2205 Vendor:\001
4 0 0 50 -1 16 12 0.0000 4 135 690 495 2430 Product:\001
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450 3150 2475 3150 2475 3825 450 3825 450 3150
4 0 0 50 -1 16 12 0.0000 4 135 660 495 3330 Vendor:\001
4 0 0 50 -1 16 12 0.0000 4 135 690 495 3555 Product:\001
4 0 0 50 -1 16 12 0.0000 4 135 465 495 3780 Alias:\001
4 0 0 50 -1 16 12 0.0000 4 135 1035 1350 3330 0x00000001\001
4 0 0 50 -1 16 12 0.0000 4 135 1035 1350 3555 0x00000002\001
4 0 0 50 -1 16 12 0.0000 4 135 615 1350 3780 0x2000\001
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6 450 4275 2475 4950
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450 4275 2475 4275 2475 4950 450 4950 450 4275
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6 4500 900 6750 1800
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4 0 0 50 -1 16 12 0.0000 4 135 660 4545 2655 Vendor:\001
4 0 0 50 -1 16 12 0.0000 4 135 690 4545 2880 Product:\001
4 0 0 50 -1 16 12 0.0000 4 135 615 5400 2205 0x0000\001
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-6
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4500 1350 2475 2385
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675 1575 675 2025
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
675 2700 675 3150
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
675 3825 675 4275
2 1 2 1 0 7 50 -1 -1 3.000 0 0 -1 0 0 2
2475 1215 4500 2475
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
2475 3510 4500 3600
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
4500 5850 2475 4590
4 2 0 50 -1 16 12 0.0000 4 135 105 360 4410 3\001
4 2 0 50 -1 16 12 0.0000 4 135 105 360 1035 0\001
4 2 0 50 -1 16 12 0.0000 4 135 105 360 2160 1\001
4 2 0 50 -1 16 12 0.0000 4 135 105 360 3285 2\001
4 0 0 50 -1 16 14 0.0000 4 165 630 450 765 Slaves\001
4 0 0 50 -1 16 14 0.0000 4 210 1950 4500 765 Slave Configurations\001

27
documentation/images/fmmus.fig
View File

@@ -10,6 +10,11 @@ Single
5 1 0 1 0 7 50 -1 20 0.000 0 0 0 0 1755.000 1440.000 1215 1440 1755 900 2295 1440
5 1 0 1 0 7 50 -1 20 0.000 0 0 0 0 4095.000 1440.000 3735 1440 4095 1080 4455 1440
5 1 0 1 0 7 50 -1 20 0.000 0 0 0 0 8190.000 1440.000 7650 1440 8190 900 8730 1440
6 3465 4455 5640 4680
2 2 0 1 0 7 50 -1 42 0.000 0 0 -1 0 0 5
3465 4455 3645 4455 3645 4680 3465 4680 3465 4455
4 0 0 50 -1 16 12 0.0000 4 180 1905 3735 4635 Registered Pdo Entries\001
-6
2 1 1 1 0 7 52 -1 46 4.000 0 0 -1 0 0 2
1215 1665 1620 3870
2 1 1 1 0 7 52 -1 46 4.000 0 0 -1 0 0 2
@@ -186,26 +191,6 @@ Single
5310 2880 4185 2880 4185 2520 5310 2520 5310 2880
2 1 1 1 0 7 52 -1 42 4.000 0 0 -1 0 0 2
4455 1665 5850 3870
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
1 1 1.00 60.00 120.00
1800 4410 1800 4095
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
1 1 1.00 60.00 120.00
2700 4410 2700 4095
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
1 1 1.00 60.00 120.00
5130 4410 5130 4095
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
1 1 1.00 60.00 120.00
6210 4410 6210 4095
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
1 1 1.00 60.00 120.00
2340 4410 2340 4095
2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
1 1 1.00 60.00 120.00
3645 5265 3330 5265
2 2 0 1 0 7 50 -1 42 0.000 0 0 -1 0 0 5
3465 4815 3645 4815 3645 5040 3465 5040 3465 4815
4 0 0 50 -1 16 12 0.0000 4 135 420 675 1395 RAM\001
4 1 0 50 -1 16 12 0.0000 4 135 390 4095 1350 SM1\001
4 0 0 50 -1 16 12 0.0000 4 135 420 6390 1395 RAM\001
@@ -219,5 +204,3 @@ Single
4 1 0 50 -1 16 12 0.0000 4 135 390 8190 1305 SM3\001
4 0 0 50 -1 16 12 0.0000 4 180 1290 1080 3825 Domain0 Image\001
4 0 0 50 -1 16 12 0.0000 4 180 1290 4050 3825 Domain1 Image\001
4 0 0 50 -1 16 12 0.0000 4 180 1815 3735 5310 Process data pointers\001
4 0 0 50 -1 16 12 0.0000 4 180 1890 3735 4995 Registered Pdo entries\001