/** Enumerate and init all slaves.
*
* @param[in] context = context struct
* @param[in] usetable = TRUE when using configtable to init slaves, FALSE otherwise
* @return Workcounter of slave discover datagram = number of slaves found
*/
int ecx_config_init(ecx_contextt *context, uint8 usetable)
{
uint16 w, slave, ADPh, configadr, ssigen;
uint16 topology, estat;
int16 topoc, slavec, aliasadr;
uint8 b,h;
uint8 zbuf[64];
uint8 SMc;
uint32 eedat;
int wkc, cindex, nSM, lp;
EC_PRINT("ec_config_init %d\n",usetable);
*(context->slavecount) = 0;
/* clean ec_slave array */
memset(context->slavelist, 0x00, sizeof(ec_slavet) * context->maxslave);
memset(&zbuf, 0x00, sizeof(zbuf));
memset(context->grouplist, 0x00, sizeof(ec_groupt) * context->maxgroup);
/* clear slave eeprom cache */
ecx_siigetbyte(context, 0, EC_MAXEEPBUF);
for(lp = 0; lp < context->maxgroup; lp++)
{
context->grouplist[lp].logstartaddr = lp << 16; /* default start address per group entry */
}
/* make special pre-init register writes to enable MAC[1] local administered bit *
* setting for old netX100 slaves */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET3); /* Ignore Alias register */
b = EC_STATE_INIT | EC_STATE_ACK;
ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
/* netX100 should now be happy */
wkc = ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
printf("wkc = %d\n",wkc);
w = 0x0000;
wkc = ecx_BRD(context->port, 0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
if (wkc > 0)
{
*(context->slavecount) = wkc;
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLPORT, sizeof(b), &b, EC_TIMEOUTRET3); /* deact loop manual */
w = htoes(0x0004);
ecx_BWR(context->port, 0x0000, ECT_REG_IRQMASK, sizeof(w), &w, EC_TIMEOUTRET3); /* set IRQ mask */
ecx_BWR(context->port, 0x0000, ECT_REG_RXERR, 8, &zbuf, EC_TIMEOUTRET3); /* reset CRC counters */
ecx_BWR(context->port, 0x0000, ECT_REG_FMMU0, 16 * 3, &zbuf, EC_TIMEOUTRET3); /* reset FMMU's */
ecx_BWR(context->port, 0x0000, ECT_REG_SM0, 8 * 4, &zbuf, EC_TIMEOUTRET3); /* reset SyncM */
ecx_BWR(context->port, 0x0000, ECT_REG_DCSYSTIME, 4, &zbuf, EC_TIMEOUTRET3); /* reset system time+ofs */
w = htoes(0x1000);
ecx_BWR(context->port, 0x0000, ECT_REG_DCSPEEDCNT, sizeof(w), &w, EC_TIMEOUTRET3); /* DC speedstart */
w = htoes(0x0c00);
ecx_BWR(context->port, 0x0000, ECT_REG_DCTIMEFILT, sizeof(w), &w, EC_TIMEOUTRET3); /* DC filt expr */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET3); /* Ignore Alias register */
b = EC_STATE_INIT | EC_STATE_ACK;
ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
b = 2;
ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET3); /* force Eeprom from PDI */
b = 0;
ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET3); /* set Eeprom to master */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
ADPh = (uint16)(1 - slave);
context->slavelist[slave].Itype =
etohs(ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3)); /* read interface type of slave */
/* a node offset is used to improve readibility of network frames */
/* this has no impact on the number of addressable slaves (auto wrap around) */
ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET3); /* set node address of slave */
if (slave == 1)
{
b = 1; /* kill non ecat frames for first slave */
}
else
{
b = 0; /* pass all frames for following slaves */
}
ecx_APWRw(context->port, ADPh, ECT_REG_DLCTL, htoes(b), EC_TIMEOUTRET3); /* set non ecat frame behaviour */
configadr = etohs(ecx_APRDw(context->port, ADPh, ECT_REG_STADR, EC_TIMEOUTRET3));
context->slavelist[slave].configadr = configadr;
ecx_FPRD(context->port, configadr, ECT_REG_ALIAS, sizeof(aliasadr), &aliasadr, EC_TIMEOUTRET3);
context->slavelist[slave].aliasadr = etohs(aliasadr);
ecx_FPRD(context->port, configadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET3);
estat = etohs(estat);
if (estat & EC_ESTAT_R64) /* check if slave can read 8 byte chunks */
{
context->slavelist[slave].eep_8byte = 1;
}
ecx_readeeprom1(context, slave, ECT_SII_MANUF); /* Manuf */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_man =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* Manuf */
ecx_readeeprom1(context, slave, ECT_SII_ID); /* ID */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_id =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* ID */
ecx_readeeprom1(context, slave, ECT_SII_REV); /* revision */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_rev =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* revision */
ecx_readeeprom1(context, slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* write mailbox address and mailboxsize */
context->slavelist[slave].mbx_wo = (uint16)LO_WORD(eedat);
context->slavelist[slave].mbx_l = (uint16)HI_WORD(eedat);
if (context->slavelist[slave].mbx_l > 0)
{
ecx_readeeprom1(context, slave, ECT_SII_TXMBXADR); /* read mailbox offset */
}
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
if (context->slavelist[slave].mbx_l > 0)
{
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* read mailbox offset */
context->slavelist[slave].mbx_ro = (uint16)LO_WORD(eedat); /* read mailbox offset */
context->slavelist[slave].mbx_rl = (uint16)HI_WORD(eedat); /*read mailbox length */
if (context->slavelist[slave].mbx_rl == 0)
{
context->slavelist[slave].mbx_rl = context->slavelist[slave].mbx_l;
}
}
configadr = context->slavelist[slave].configadr;
if ((etohs(ecx_FPRDw(context->port, configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET3)) & 0x04) > 0) /* Support DC? */
{
context->slavelist[slave].hasdc = TRUE;
}
else
{
context->slavelist[slave].hasdc = FALSE;
}
topology = etohs(ecx_FPRDw(context->port, configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET3)); /* extract topology from DL status */
h = 0;
b = 0;
if ((topology & 0x0300) == 0x0200) /* port0 open and communication established */
{
h++;
b |= 0x01;
}
if ((topology & 0x0c00) == 0x0800) /* port1 open and communication established */
{
h++;
b |= 0x02;
}
if ((topology & 0x3000) == 0x2000) /* port2 open and communication established */
{
h++;
b |= 0x04;
}
if ((topology & 0xc000) == 0x8000) /* port3 open and communication established */
{
h++;
b |= 0x08;
}
/* ptype = Physical type*/
context->slavelist[slave].ptype =
LO_BYTE(etohs(ecx_FPRDw(context->port, configadr, ECT_REG_PORTDES, EC_TIMEOUTRET3)));
context->slavelist[slave].topology = h;
context->slavelist[slave].activeports = b;
/* 0=no links, not possible */
/* 1=1 link , end of line */
/* 2=2 links , one before and one after */
/* 3=3 links , split point */
/* 4=4 links , cross point */
/* search for parent */
context->slavelist[slave].parent = 0; /* parent is master */
if (slave > 1)
{
topoc = 0;
slavec = slave - 1;
do
{
topology = context->slavelist[slavec].topology;
if (topology == 1)
{
topoc--; /* endpoint found */
}
if (topology == 3)
{
topoc++; /* split found */
}
if (topology == 4)
{
topoc += 2; /* cross found */
}
if (((topoc >= 0) && (topology > 1)) ||
(slavec == 1)) /* parent found */
{
context->slavelist[slave].parent = slavec;
slavec = 1;
}
slavec--;
}
while (slavec > 0);
}
w = ecx_statecheck(context, slave, EC_STATE_INIT, EC_TIMEOUTSTATE); //* check state change Init */
/* set default mailbox configuration if slave has mailbox */
if (context->slavelist[slave].mbx_l>0)
{
context->slavelist[slave].SMtype[0] = 1;
context->slavelist[slave].SMtype[1] = 2;
context->slavelist[slave].SMtype[2] = 3;
context->slavelist[slave].SMtype[3] = 4;
context->slavelist[slave].SM[0].StartAddr = htoes(context->slavelist[slave].mbx_wo);
context->slavelist[slave].SM[0].SMlength = htoes(context->slavelist[slave].mbx_l);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
context->slavelist[slave].SM[1].StartAddr = htoes(context->slavelist[slave].mbx_ro);
context->slavelist[slave].SM[1].SMlength = htoes(context->slavelist[slave].mbx_rl);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].mbx_proto =
ecx_readeeprom(context, slave, ECT_SII_MBXPROTO, EC_TIMEOUTEEP);
}
cindex = 0;
#ifdef EC_VER1
/* use configuration table ? */
if (usetable)
{
cindex = ec_findconfig( context->slavelist[slave].eep_man, context->slavelist[slave].eep_id );
context->slavelist[slave].configindex= cindex;
}
/* slave found in configuration table ? */
if (cindex)
{
context->slavelist[slave].Dtype = ec_configlist[cindex].Dtype;
strcpy(context->slavelist[slave].name ,ec_configlist[cindex].name);
context->slavelist[slave].Ibits = ec_configlist[cindex].Ibits;
context->slavelist[slave].Obits = ec_configlist[cindex].Obits;
if (context->slavelist[slave].Obits)
{
context->slavelist[slave].FMMU0func = 1;
}
if (context->slavelist[slave].Ibits)
{
context->slavelist[slave].FMMU1func = 2;
}
context->slavelist[slave].FMMU[0].FMMUactive = ec_configlist[cindex].FM0ac;
context->slavelist[slave].FMMU[1].FMMUactive = ec_configlist[cindex].FM1ac;
context->slavelist[slave].SM[2].StartAddr = htoes(ec_configlist[cindex].SM2a);
context->slavelist[slave].SM[2].SMflags = htoel(ec_configlist[cindex].SM2f);
/* simple (no mailbox) output slave found ? */
if (context->slavelist[slave].Obits && !context->slavelist[slave].SM[2].StartAddr)
{
context->slavelist[slave].SM[0].StartAddr = htoes(0x0f00);
context->slavelist[slave].SM[0].SMlength = htoes((context->slavelist[slave].Obits + 7) / 8);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTDOSM0);
context->slavelist[slave].FMMU[0].FMMUactive = 1;
context->slavelist[slave].FMMU[0].FMMUtype = 2;
context->slavelist[slave].SMtype[0] = 3;
}
/* complex output slave */
else
{
context->slavelist[slave].SM[2].SMlength = htoes((context->slavelist[slave].Obits + 7) / 8);
context->slavelist[slave].SMtype[2] = 3;
}
context->slavelist[slave].SM[3].StartAddr = htoes(ec_configlist[cindex].SM3a);
context->slavelist[slave].SM[3].SMflags = htoel(ec_configlist[cindex].SM3f);
/* simple (no mailbox) input slave found ? */
if (context->slavelist[slave].Ibits && !context->slavelist[slave].SM[3].StartAddr)
{
context->slavelist[slave].SM[1].StartAddr = htoes(0x1000);
context->slavelist[slave].SM[1].SMlength = htoes((context->slavelist[slave].Ibits + 7) / 8);
context->slavelist[slave].SM[1].SMflags = htoel(0x00000000);
context->slavelist[slave].FMMU[1].FMMUactive = 1;
context->slavelist[slave].FMMU[1].FMMUtype = 1;
context->slavelist[slave].SMtype[1] = 4;
}
/* complex input slave */
else
{
context->slavelist[slave].SM[3].SMlength = htoes((context->slavelist[slave].Ibits + 7) / 8);
context->slavelist[slave].SMtype[3] = 4;
}
}
/* slave not in configuration table, find out via SII */
else
#endif
{
ssigen = ecx_siifind(context, slave, ECT_SII_GENERAL);
/* SII general section */
if (ssigen)
{
context->slavelist[slave].CoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x07);
context->slavelist[slave].FoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x08);
context->slavelist[slave].EoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x09);
context->slavelist[slave].SoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x0a);
if((ecx_siigetbyte(context, slave, ssigen + 0x0d) & 0x02) > 0)
{
context->slavelist[slave].blockLRW = 1;
context->slavelist[0].blockLRW++;
}
context->slavelist[slave].Ebuscurrent = ecx_siigetbyte(context, slave, ssigen + 0x0e);
context->slavelist[slave].Ebuscurrent += ecx_siigetbyte(context, slave, ssigen + 0x0f) << 8;
context->slavelist[0].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
}
/* SII strings section */
if (ecx_siifind(context, slave, ECT_SII_STRING) > 0)
{
ecx_siistring(context, context->slavelist[slave].name, slave, 1);
}
/* no name for slave found, use constructed name */
else
{
sprintf(context->slavelist[slave].name, "? M:%8.8x I:%8.8x",
(unsigned int)context->slavelist[slave].eep_man,
(unsigned int)context->slavelist[slave].eep_id);
}
/* SII SM section */
nSM = ecx_siiSM(context, slave, context->eepSM);
if (nSM>0)
{
context->slavelist[slave].SM[0].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[0].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[0].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc = 1;
while ((SMc < EC_MAXSM) && ecx_siiSMnext(context, slave, context->eepSM, SMc))
{
context->slavelist[slave].SM[SMc].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[SMc].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[SMc].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc++;
}
}
/* SII FMMU section */
if (ecx_siiFMMU(context, slave, context->eepFMMU))
{
if (context->eepFMMU->FMMU0 !=0xff)
{
context->slavelist[slave].FMMU0func = context->eepFMMU->FMMU0;
}
if (context->eepFMMU->FMMU1 !=0xff)
{
context->slavelist[slave].FMMU1func = context->eepFMMU->FMMU1;
}
if (context->eepFMMU->FMMU2 !=0xff)
{
context->slavelist[slave].FMMU2func = context->eepFMMU->FMMU2;
}
if (context->eepFMMU->FMMU3 !=0xff)
{
context->slavelist[slave].FMMU3func = context->eepFMMU->FMMU3;
}
}
}
if (context->slavelist[slave].mbx_l > 0)
{
if (context->slavelist[slave].SM[0].StartAddr == 0x0000) /* should never happen */
{
EC_PRINT("Slave %d has no proper mailbox in configuration, try default.\n", slave);
context->slavelist[slave].SM[0].StartAddr = htoes(0x1000);
context->slavelist[slave].SM[0].SMlength = htoes(0x0080);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
context->slavelist[slave].SMtype[0] = 1;
}
if (context->slavelist[slave].SM[1].StartAddr == 0x0000) /* should never happen */
{
EC_PRINT("Slave %d has no proper mailbox out configuration, try default.\n", slave);
context->slavelist[slave].SM[1].StartAddr = htoes(0x1080);
context->slavelist[slave].SM[1].SMlength = htoes(0x0080);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].SMtype[1] = 2;
}
/* program SM0 mailbox in and SM1 mailbox out for slave */
/* writing both SM in one datagram will solve timing issue in old NETX */
ecx_FPWR(context->port, configadr, ECT_REG_SM0, sizeof(ec_smt) * 2,
&(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
}
/* request pre_op for slave */
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK) , EC_TIMEOUTRET3); /* set preop status */
}
}
return wkc;
}
/**
* Locate DC slaves, measure propagation delays.
*
* @param[in] context = context struct
* @return boolean if slaves are found with DC
*/
boolean ecx_configdc(ecx_contextt *context)
{
uint16 i, slaveh, parent, child;
uint16 parenthold = 0;
uint16 prevDCslave = 0;
int32 ht, dt1, dt2, dt3;
int64 hrt;
uint8 entryport;
int8 nlist;
int8 plist[4];
int32 tlist[4];
ec_timet mastertime;
uint64 mastertime64;
context->slavelist[0].hasdc = FALSE;
context->grouplist[0].hasdc = FALSE;
ht = 0;
ecx_BWR(context->port, 0, ECT_REG_DCTIME0, sizeof(ht), &ht, EC_TIMEOUTRET); /* latch DCrecvTimeA of all slaves */
mastertime = osal_current_time();
mastertime.sec -= 946684800UL; /* EtherCAT uses 2000-01-01 as epoch start instead of 1970-01-01 */
mastertime64 = (((uint64)mastertime.sec * 1000000) + (uint64)mastertime.usec) * 1000;
for (i = 1; i <= *(context->slavecount); i++)
{
context->slavelist[i].consumedports = context->slavelist[i].activeports;
if (context->slavelist[i].hasdc)
{
if (!context->slavelist[0].hasdc)
{
context->slavelist[0].hasdc = TRUE;
context->slavelist[0].DCnext = i;
context->slavelist[i].DCprevious = 0;
context->grouplist[0].hasdc = TRUE;
context->grouplist[0].DCnext = i;
}
else
{
context->slavelist[prevDCslave].DCnext = i;
context->slavelist[i].DCprevious = prevDCslave;
}
/* this branch has DC slave so remove parenthold */
parenthold = 0;
prevDCslave = i;
slaveh = context->slavelist[i].configadr;
(void)ecx_FPRD(context->port, slaveh, ECT_REG_DCTIME0, sizeof(ht), &ht, EC_TIMEOUTRET);
context->slavelist[i].DCrtA = etohl(ht);
/* 64bit latched DCrecvTimeA of each specific slave */
(void)ecx_FPRD(context->port, slaveh, ECT_REG_DCSOF, sizeof(hrt), &hrt, EC_TIMEOUTRET);
/* use it as offset in order to set local time around 0 + mastertime */
hrt = htoell(-etohll(hrt) + mastertime64);
/* save it in the offset register */
(void)ecx_FPWR(context->port, slaveh, ECT_REG_DCSYSOFFSET, sizeof(hrt), &hrt, EC_TIMEOUTRET);
(void)ecx_FPRD(context->port, slaveh, ECT_REG_DCTIME1, sizeof(ht), &ht, EC_TIMEOUTRET);
context->slavelist[i].DCrtB = etohl(ht);
(void)ecx_FPRD(context->port, slaveh, ECT_REG_DCTIME2, sizeof(ht), &ht, EC_TIMEOUTRET);
context->slavelist[i].DCrtC = etohl(ht);
(void)ecx_FPRD(context->port, slaveh, ECT_REG_DCTIME3, sizeof(ht), &ht, EC_TIMEOUTRET);
context->slavelist[i].DCrtD = etohl(ht);
/* make list of active ports and their time stamps */
nlist = 0;
if (context->slavelist[i].activeports & PORTM0)
{
plist[nlist] = 0;
tlist[nlist] = context->slavelist[i].DCrtA;
nlist++;
}
if (context->slavelist[i].activeports & PORTM3)
{
plist[nlist] = 3;
tlist[nlist] = context->slavelist[i].DCrtD;
nlist++;
}
if (context->slavelist[i].activeports & PORTM1)
{
plist[nlist] = 1;
tlist[nlist] = context->slavelist[i].DCrtB;
nlist++;
}
if (context->slavelist[i].activeports & PORTM2)
{
plist[nlist] = 2;
tlist[nlist] = context->slavelist[i].DCrtC;
nlist++;
}
/* entryport is port with the lowest timestamp */
entryport = 0;
if((nlist > 1) && (tlist[1] < tlist[entryport]))
{
entryport = 1;
}
if((nlist > 2) && (tlist[2] < tlist[entryport]))
{
entryport = 2;
}
if((nlist > 3) && (tlist[3] < tlist[entryport]))
{
entryport = 3;
}
entryport = plist[entryport];
context->slavelist[i].entryport = entryport;
/* consume entryport from activeports */
context->slavelist[i].consumedports &= (uint8)~(1 << entryport);
/* finding DC parent of current */
parent = i;
do
{
child = parent;
parent = context->slavelist[parent].parent;
}
while (!((parent == 0) || (context->slavelist[parent].hasdc)));
/* only calculate propagation delay if slave is not the first */
if (parent > 0)
{
/* find port on parent this slave is connected to */
context->slavelist[i].parentport = ecx_parentport(context, parent);
if (context->slavelist[parent].topology == 1)
{
context->slavelist[i].parentport = context->slavelist[parent].entryport;
}
dt1 = 0;
dt2 = 0;
/* delta time of (parentport - 1) - parentport */
/* note: order of ports is 0 - 3 - 1 -2 */
/* non active ports are skipped */
dt3 = ecx_porttime(context, parent, context->slavelist[i].parentport) -
ecx_porttime(context, parent,
ecx_prevport(context, parent, context->slavelist[i].parentport));
/* current slave has children */
/* those children's delays need to be subtracted */
if (context->slavelist[i].topology > 1)
{
dt1 = ecx_porttime(context, i,
ecx_prevport(context, i, context->slavelist[i].entryport)) -
ecx_porttime(context, i, context->slavelist[i].entryport);
}
/* we are only interested in positive difference */
if (dt1 > dt3) dt1 = -dt1;
/* current slave is not the first child of parent */
/* previous child's delays need to be added */
if ((child - parent) > 1)
{
dt2 = ecx_porttime(context, parent,
ecx_prevport(context, parent, context->slavelist[i].parentport)) -
ecx_porttime(context, parent, context->slavelist[parent].entryport);
}
if (dt2 < 0) dt2 = -dt2;
/* calculate current slave delay from delta times */
/* assumption : forward delay equals return delay */
context->slavelist[i].pdelay = ((dt3 - dt1) / 2) + dt2 +
context->slavelist[parent].pdelay;
ht = htoel(context->slavelist[i].pdelay);
/* write propagation delay*/
(void)ecx_FPWR(context->port, slaveh, ECT_REG_DCSYSDELAY, sizeof(ht), &ht, EC_TIMEOUTRET);
}
}
else
{
context->slavelist[i].DCrtA = 0;
context->slavelist[i].DCrtB = 0;
context->slavelist[i].DCrtC = 0;
context->slavelist[i].DCrtD = 0;
parent = context->slavelist[i].parent;
/* if non DC slave found on first position on branch hold root parent */
if ( (parent > 0) && (context->slavelist[parent].topology > 2))
parenthold = parent;
/* if branch has no DC slaves consume port on root parent */
if ( parenthold && (context->slavelist[i].topology == 1))
{
ecx_parentport(context, parenthold);
parenthold = 0;
}
}
}
return context->slavelist[0].hasdc;
}
