Mirrors_Framework/ethercat
1
0
Fork 0
mirror of https://gitlab.com/etherlab.org/ethercat.git synced 2026-02-06 03:41:52 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

merge

Browse Source
This commit is contained in:
Florian Pose
2010-06-06 21:15:17 +02:00
parent d975ec2586 8b6d5f8af3
commit e764fd788b
8 changed files with 78 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
TODO
View File

@@ -44,6 +44,7 @@ Version 1.5.0:
* Read AL status code on spontaneous state change.
* Fix clearing domains etc. when not activated and releasing.
* Output -EPROTO if mailbox protocol is not supported.
* Only output watchdog config if not default.
Future issues:

24
configure.ac
View File

@@ -512,6 +512,30 @@ if test "x${hrtimer}" = "x1"; then
AC_DEFINE([EC_USE_HRTIMER], [1], [Use hrtimer for scheduling])
fi
#------------------------------------------------------------------------------
# Read alias address from register
#------------------------------------------------------------------------------
AC_ARG_ENABLE([regalias],
AS_HELP_STRING([--enable-regalias],
[Read alias adresses from register (default: no)]),
[
case "${enableval}" in
yes) regalias=1
;;
no) regalias=0
;;
*) AC_MSG_ERROR([Invalid value for --enable-regalias])
;;
esac
],
[regalias=0]
)
if test "x${regalias}" = "x1"; then
AC_DEFINE([EC_REGALIAS], [1], [Read alias adresses from register])
fi
#------------------------------------------------------------------------------
# Command-line tool
#-----------------------------------------------------------------------------

8
examples/rtai/rtai_sample.c
View File

@@ -76,8 +76,8 @@ static cycles_t t_last_cycle = 0, t_critical;
// process data
static uint8_t *domain1_pd; // process data memory
#define AnaInSlavePos 0, 1
#define DigOutSlavePos 0, 3
#define AnaInSlavePos 0, 3
#define DigOutSlavePos 0, 2
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
@@ -286,8 +286,8 @@ int __init init_mod(void)
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
master = ecrt_request_master(0);
if (IS_ERR(master)) {
ret = PTR_ERR(master);
if (!master) {
ret = -EBUSY;
printk(KERN_ERR PFX "Requesting master 0 failed!\n");
goto out_return;
}

1
master/cdev.c
View File

@@ -1724,7 +1724,6 @@ int ec_cdev_ioctl_deactivate(
return 0;
}
/*****************************************************************************/
/** Set max. number of databytes in a cycle

27
master/fsm_slave_scan.c
View File

@@ -52,7 +52,9 @@ void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
#ifdef EC_REGALIAS
void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
#endif
void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
@@ -61,7 +63,9 @@ void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
#ifdef EC_REGALIAS
void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
#endif
void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
@@ -694,7 +698,15 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
}
}
#ifdef EC_REGALIAS
ec_fsm_slave_scan_enter_regalias(fsm);
#else
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
} else {
fsm->state = ec_fsm_slave_scan_state_end;
}
#endif
return;
end:
@@ -703,13 +715,12 @@ end:
fsm->state = ec_fsm_slave_scan_state_error;
}
/*****************************************************************************/
/**
Slave scan entry function: REGALIAS.
*/
#ifdef EC_REGALIAS
/** Slave scan entry function: REGALIAS.
*/
void ec_fsm_slave_scan_enter_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
@@ -727,9 +738,8 @@ void ec_fsm_slave_scan_enter_regalias(
/*****************************************************************************/
/**
Slave scan state: REGALIAS.
*/
/** Slave scan state: REGALIAS.
*/
void ec_fsm_slave_scan_state_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
@@ -754,6 +764,7 @@ void ec_fsm_slave_scan_state_regalias(
EC_SLAVE_DBG(slave, 1, "Read alias %u from register.\n",
slave->effective_alias);
}
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
} else {
@@ -761,6 +772,8 @@ void ec_fsm_slave_scan_state_regalias(
}
}
#endif // defined EC_REGALIAS
/*****************************************************************************/
/** Enter slave scan state PREOP.

30
master/master.c
View File

@@ -439,6 +439,20 @@ void ec_master_clear_domains(ec_master_t *master)
/*****************************************************************************/
/** Clear the configuration applied by the application.
*/
void ec_master_clear_config(
ec_master_t *master /**< EtherCAT master. */
)
{
down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
up(&master->master_sem);
}
/*****************************************************************************/
/** Internal sending callback.
*/
void ec_master_internal_send_cb(
@@ -653,15 +667,17 @@ void ec_master_leave_operation_phase(
ec_master_t *master /**< EtherCAT master */
)
{
if (master->active)
ecrt_master_deactivate(master);
if (master->active) {
ecrt_master_deactivate(master); // also clears config
} else {
ec_master_clear_config(master);
}
EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
master->phase = EC_IDLE;
}
/*****************************************************************************/
/** Injects external datagrams that fit into the datagram queue.
@@ -1989,8 +2005,7 @@ void ecrt_master_deactivate(ec_master_t *master)
int eoe_was_running;
#endif
EC_MASTER_DBG(master, 1, "ecrt_master_deactivate(master = 0x%p)\n",
master);
EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
if (!master->active) {
EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
@@ -2007,10 +2022,7 @@ void ecrt_master_deactivate(ec_master_t *master)
master->receive_cb = ec_master_internal_receive_cb;
master->cb_data = master;
down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
up(&master->master_sem);
ec_master_clear_config(master);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;

5
master/master.h
View File

@@ -170,11 +170,12 @@ struct ec_master {
unsigned int injection_seq_rt; /**< Datagram injection sequence number
for the realtime side. */
ec_slave_t *slaves; /**< Array of slaves on the bus. */
unsigned int slave_count; /**< Number of slaves on the bus. */
/* Configuration applied by the application. */
struct list_head configs; /**< List of slave configurations. */
struct list_head domains; /**< List of domains. */
u64 app_time; /**< Time of the last ecrt_master_sync() call. */
u64 app_start_time; /**< Application start time. */
@@ -213,7 +214,6 @@ struct ec_master {
struct list_head external_datagram_queue; /**< External Datagram queue. */
unsigned int send_interval; /**< Interval between calls to ecrt_master_send */
size_t max_queue_size; /**< Maximum size of datagram queue */
struct list_head domains; /**< List of domains. */
unsigned int debug_level; /**< Master debug level. */
ec_stats_t stats; /**< Cyclic statistics. */
@@ -242,7 +242,6 @@ struct ec_master {
struct list_head reg_requests; /**< Register requests. */
wait_queue_head_t reg_queue; /**< Wait queue for register requests. */
};
/*****************************************************************************/

6
master/slave_config.c
View File

@@ -687,6 +687,12 @@ void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
{
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X,"
" sync0_cycle = %u, sync0_shift = %u,"
" sync1_cycle = %u, sync1_shift = %u\n",
__func__, sc, assign_activate, sync0_cycle_time, sync0_shift_time,
sync1_cycle_time, sync1_shift_time);
sc->dc_assign_activate = assign_activate;
sc->dc_sync[0].cycle_time = sync0_cycle_time;
sc->dc_sync[0].shift_time = sync0_shift_time;