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Implemented alternative PDO mapping configuration interface.

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This commit is contained in:
Florian Pose
2007-03-07 17:37:21 +00:00
parent 76fc87f3fd
commit d77267e81c
16 changed files with 923 additions and 217 deletions
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3
NEWS
View File

@@ -17,6 +17,9 @@ Changes in version 1.3.0:
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

3
TODO
View File

@@ -17,13 +17,12 @@ $Id$
* 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.

24
examples/mini/mini.c
View File

@@ -62,10 +62,16 @@ static void *r_outputs;
#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 @@ void release_lock(void *data)
int __init init_mini_module(void)
{
#if 0
#if 1
ec_slave_t *slave;
#endif
@@ -173,6 +179,15 @@ int __init init_mini_module(void)
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 @@ int __init init_mini_module(void)
#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");

14
include/ecrt.h
View File

@@ -111,8 +111,8 @@ typedef struct
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 @@ ec_pdo_reg_t;
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_sdo16(ec_slave_t *slave, uint16_t sdo_index,
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
*****************************************************************************/

2
master/Kbuild
View File

@@ -37,7 +37,7 @@ obj-m := ec_master.o
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

1
master/Makefile.am
View File

@@ -47,6 +47,7 @@ EXTRA_DIST = \
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 \

127
master/domain.c
View File

@@ -182,39 +182,26 @@ void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
/*****************************************************************************/
/**
Registeres a PDO entry.
\return 0 in case of success, else < 0
*/
* 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_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 */
)
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 @@ int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
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 @@ int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
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 @@ ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
*****************************************************************************/
/**
Registers a PDO in a domain.
\return pointer to the slave on success, else NULL
\ingroup RealtimeInterface
*/
* 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 pdo_index,
/**< PDO index */
uint8_t pdo_subindex,
/**< PDO subindex */
void **data_ptr
/**< address of the process data
pointer */
)
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 @@ ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
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;
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, slave, pdo, entry, data_ptr)) {
return NULL;
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
*/
* 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 */
)
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;

4
master/fmmu.c
View File

@@ -71,9 +71,7 @@ void ec_fmmu_config(
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",

367
master/fsm_mapping.c Normal file
View File

@@ -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 */
)
{
}
/*****************************************************************************/

83
master/fsm_mapping.h Normal file
View File

@@ -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

164
master/fsm_slave.c
View File

@@ -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_preop(ec_fsm_slave_t *);
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_preop(ec_fsm_slave_t *);
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 @@ void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
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 @@ void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
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 @@ void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine
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 @@ void ec_fsm_slave_conf_enter_pdo_sync(
/*****************************************************************************/
/**
Slave configuration state: SYNC2.
*/
*/
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
{
@@ -870,7 +975,7 @@ void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
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 @@ void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
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);
}

2
master/fsm_slave.h
View File

@@ -48,6 +48,7 @@
#include "fsm_sii.h"
#include "fsm_change.h"
#include "fsm_coe.h"
#include "fsm_mapping.h"
/*****************************************************************************/
@@ -70,6 +71,7 @@ struct ec_fsm_slave
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 */
};
/*****************************************************************************/

211
master/slave.c
View File

@@ -262,7 +262,7 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
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 @@ void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
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_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
/**
*/
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 @@ int ec_slave_fetch_sii_pdos(
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 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
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",
pdo_entry->name ? pdo_entry->name : "???",
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);
}
}
@@ -1055,42 +1099,6 @@ 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
*/
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;
}
/*****************************************************************************/
/**
*/
@@ -1101,14 +1109,12 @@ ec_sync_t *ec_slave_get_pdo_sync(
{
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) {
@@ -1277,6 +1283,96 @@ int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
}
/*****************************************************************************/
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 */
@@ -1284,6 +1380,9 @@ int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
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 */

18
master/slave.h
View File

@@ -60,8 +60,8 @@
/*****************************************************************************/
/**
State of an EtherCAT slave.
*/
* State of an EtherCAT slave.
*/
typedef enum
{
@@ -94,8 +94,8 @@ ec_slave_online_state_t;
/*****************************************************************************/
/**
Supported mailbox protocols.
*/
* Supported mailbox protocols.
*/
enum
{
@@ -110,8 +110,8 @@ enum
/*****************************************************************************/
/**
EtherCAT slave.
*/
* EtherCAT slave.
*/
struct ec_slave
{
@@ -204,14 +204,10 @@ 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);
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 *);
/*****************************************************************************/

103
master/sync.c
View File

@@ -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 @@ void ec_sync_init(
sync->index = index;
sync->est_length = 0;
INIT_LIST_HEAD(&sync->pdos);
sync->alt_mapping = 0;
}
/*****************************************************************************/
@@ -71,6 +74,40 @@ void ec_sync_clear(
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 @@ void ec_sync_config(
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 @@ void ec_sync_config(
}
/*****************************************************************************/
/**
*/
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;
}
/*****************************************************************************/

14
master/sync.h
View File

@@ -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