/** PDI ISR handler
*
* @param[in] arg = NOT USED
*/
static void ecat_isr (void * arg)
{
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
CC_ATOMIC_SET(ESCvar.ALevent, etohl(ecat0->AL_EVENT_REQ));
if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
if(ESCvar.dcsync == 0)
{
DIG_process(DIG_PROCESS_OUTPUTS_FLAG | DIG_PROCESS_APP_HOOK_FLAG |
DIG_PROCESS_INPUTS_FLAG);
}
else
{
DIG_process(DIG_PROCESS_OUTPUTS_FLAG);
}
}
#if 1
if(ESCvar.ALevent & (ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
| ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP))
{
/* Mask interrupts while servicing them */
ecat0->AL_EVENT_MASK &= ~(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
| ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
extern flags_t * ecat_events;
flags_set(ecat_events, EVENT_ISR);
//sem_signal(ecat_isr_sem);
}
#endif
}
void FOE_write()
{
_FOE *foembx;
uint16_t data_len;
uint32_t password;
int16_t res;
if(ESCvar.foestate != FOE_READY)
{
FOE_abort(FOE_ERR_ILLEGAL);
return;
}
FOE_init();
foembx = (_FOE*)&MBX[0];
data_len = etohs(foembx->mbxheader.length) - FOEHSIZE;
password = etohl(foembx->foeheader.x.password);
/* Get an address we can write the file to, if possible. */
res = FOE_fopen(foembx->y.filename, data_len, password, FOE_OP_WRQ);
if(res==0)
{
res = FOE_send_ack();
if(res)
FOE_abort(res);
else
ESCvar.foestate = FOE_WAIT_FOR_DATA;
}
else
FOE_abort(res);
}
void FOE_read()
{
_FOE *foembx;
uint16_t data_len;
uint32_t password;
uint16_t res;
if(ESCvar.foestate != FOE_READY)
{
FOE_abort(FOE_ERR_ILLEGAL);
return;
}
FOE_init();
foembx = (_FOE*)&MBX[0];
//Get the length of the file name in octets.
data_len = etohs(foembx->mbxheader.length) - FOEHSIZE;
password = etohl(foembx->foeheader.x.password);
res = FOE_fopen(foembx->y.filename, data_len, password, FOE_OP_RRQ);
if(res==0)
{
ESCvar.foepacket=1;
/* Attempt to send the packet */
res = FOE_send_data_packet();
if(res <= FOE_DATA_SIZE)
{
ESCvar.foestate = FOE_WAIT_FOR_ACK;
}
else
FOE_abort(res);
}
else
FOE_abort(res);
}
/**
* Polling function. It should be called periodically for an application
* when only SM2/DC interrupt is active.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_poll (void)
{
/* Read local time from ESC*/
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
if (ESC_mbxprocess())
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
}
/** EPP periodic task of ESC side EEPROM emulation.
*
*/
void EEP_process (void)
{
eep_stat_t stat;
/* check for eeprom event */
if ((ESCvar.ALevent & ESCREG_ALEVENT_EEP) == 0) {
return;
}
while (1) {
/* read eeprom status */
ESC_read (ESCREG_EECONTSTAT, &stat, sizeof (eep_stat_t));
stat.contstat.reg = etohs(stat.contstat.reg);
stat.addr = etohl(stat.addr);
/* check busy flag, exit if job finished */
if (!stat.contstat.bits.busy) {
return;
}
/* clear error bits */
stat.contstat.bits.csumErr = 0;
stat.contstat.bits.eeLoading = 0;
stat.contstat.bits.ackErr = 0;
stat.contstat.bits.wrErr = 0;
/* process commands */
switch (stat.contstat.bits.cmdReg) {
case EEP_CMD_IDLE:
break;
case EEP_CMD_READ:
case EEP_CMD_RELOAD:
/* handle read request */
if (EEP_read (stat.addr * sizeof(uint16_t), eep_buf, EEP_READ_SIZE) != 0) {
stat.contstat.bits.ackErr = 1;
} else {
ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
}
break;
case EEP_CMD_WRITE:
/* handle write request */
ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
if (EEP_write (stat.addr * sizeof(uint16_t), eep_buf, EEP_WRITE_SIZE) != 0) {
stat.contstat.bits.ackErr = 1;
}
break;
default:
stat.contstat.bits.ackErr = 1;
}
/* acknowledge command */
stat.contstat.reg = htoes(stat.contstat.reg);
ESC_write (ESCREG_EECONTSTAT, &stat.contstat.reg, sizeof(uint16_t));
}
}
void FOE_data()
{
_FOE *foembx;
uint32_t packet;
// uint16_t data_len, ncopied;
uint16_t data_len;
int16_t res;
if(ESCvar.foestate != FOE_WAIT_FOR_DATA)
{
FOE_abort(FOE_ERR_ILLEGAL);
return;
}
foembx =(_FOE*)&MBX[0];
data_len = etohs(foembx->mbxheader.length) - FOEHSIZE;
packet = etohl(foembx->foeheader.x.packetnumber);
if(packet != ESCvar.foepacket)
FOE_abort(FOE_ERR_PACKETNO);
else if(ESCvar.fposition + data_len > ESCvar.fend)
FOE_abort(FOE_ERR_DISKFULL);
else
{
// ncopied = FOE_fwrite(foembx->y.data, data_len);
FOE_fwrite(foembx->y.data, data_len);
if (foe_mode == FOE_WRITE) res = FOE_send_ack(); else res=0;
if(data_len == FOE_DATA_SIZE)
{
//res = FOE_send_ack();
if(res) FOE_abort(res);
}
else
{
FOE_fclose();
FOE_init();
}
}
}
/** SOES main loop. Start by initializing the stack software followed by
* the application loop for cyclic read the EtherCAT state and staus, update
* of I/O.
*/
void soes (void *arg)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
TXPDOsize = SM3_sml = sizeTXPDO ();
RXPDOsize = SM2_sml = sizeRXPDO ();
/* Setup post config hooks */
static esc_cfg_t config =
{
.pre_state_change_hook = NULL,
.post_state_change_hook = post_state_change_hook
};
ESC_config ((esc_cfg_t *)&config);
ESC_reset();
ESC_init (spi_name);
task_delay (tick_from_ms (200));
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
/* Pre FoE to set up Application information */
bootstrap_foe_init ();
/* Init FoE */
FOE_init();
/* reset ESC to init state */
ESC_ALstatus (ESCinit);
ESC_ALerror (ALERR_NONE);
ESC_stopmbx ();
ESC_stopinput ();
ESC_stopoutput ();
DPRINT ("Application_loop GO\n");
/* application run loop */
while (1)
{
/* On init restore PDO mappings to default size */
if((ESCvar.ALstatus & 0x0f) == ESCinit)
{
txpdomap = DEFAULTTXPDOMAP;
rxpdomap = DEFAULTRXPDOMAP;
txpdoitems = DEFAULTTXPDOITEMS;
rxpdoitems = DEFAULTTXPDOITEMS;
}
/* Read local time from ESC*/
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
/* Check the state machine */
ESC_state ();
/* If else to two separate execution paths
* If we're running BOOSTRAP
* - MailBox
* - FoE
* Else we're running normal execution
* - MailBox
* - CoE
*/
if(local_boot_state)
{
if (ESC_mbxprocess ())
{
ESC_foeprocess ();
ESC_xoeprocess ();
}
bootstrap_state ();
}
else
{
if (ESC_mbxprocess ())
{
ESC_coeprocess ();
ESC_xoeprocess ();
}
DIG_process ();
}
};
}
/** Read PDO assign structure */
int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
{
uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
uint8 subcnt;
int wkc, bsize = 0, rdl;
int32 rdat2;
uint8 bitlen, obj_subidx;
uint16 obj_idx;
int abs_offset, abs_bit;
rdl = sizeof(rdat); rdat = 0;
/* read PDO assign subindex 0 ( = number of PDO's) */
wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
rdat = etohs(rdat);
/* positive result from slave ? */
if ((wkc > 0) && (rdat > 0))
{
/* number of available sub indexes */
nidx = rdat;
bsize = 0;
/* read all PDO's */
for (idxloop = 1; idxloop <= nidx; idxloop++)
{
rdl = sizeof(rdat); rdat = 0;
/* read PDO assign */
wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
/* result is index of PDO */
idx = etohl(rdat);
if (idx > 0)
{
rdl = sizeof(subcnt); subcnt = 0;
/* read number of subindexes of PDO */
wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
subidx = subcnt;
/* for each subindex */
for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
{
rdl = sizeof(rdat2); rdat2 = 0;
/* read SDO that is mapped in PDO */
wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
rdat2 = etohl(rdat2);
/* extract bitlength of SDO */
bitlen = LO_BYTE(rdat2);
bsize += bitlen;
obj_idx = (uint16)(rdat2 >> 16);
obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
abs_offset = mapoffset + (bitoffset / 8);
abs_bit = bitoffset % 8;
ODlist.Slave = slave;
ODlist.Index[0] = obj_idx;
OElist.Entries = 0;
wkc = 0;
/* read object entry from dictionary if not a filler (0x0000:0x00) */
if(obj_idx || obj_subidx)
wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
if((wkc > 0) && OElist.Entries)
{
printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
}
else
printf("\n");
bitoffset += bitlen;
};
};
};
/** Map all PDOs in one group of slaves to IOmap.
*
* @param[in] context = context struct
* @param[out] pIOmap = pointer to IOmap
* @param[in] group = group to map, 0 = all groups
* @return IOmap size
*/
int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
uint16 slave, configadr;
int Isize, Osize, BitCount, ByteCount, FMMUsize, FMMUdone;
uint16 SMlength, EndAddr;
uint8 BitPos;
uint8 SMc, FMMUc;
uint32 LogAddr = 0;
uint32 oLogAddr = 0;
uint32 diff;
int nSM, rval;
ec_eepromPDOt eepPDO;
uint16 currentsegment = 0;
uint32 segmentsize = 0;
if ((*(context->slavecount) > 0) && (group < context->maxgroup))
{
EC_PRINT("ec_config_map_group IOmap:%p group:%d\n", pIOmap, group);
LogAddr = context->grouplist[group].logstartaddr;
oLogAddr = LogAddr;
BitPos = 0;
context->grouplist[group].nsegments = 0;
context->grouplist[group].outputsWKC = 0;
context->grouplist[group].inputsWKC = 0;
/* find output mapping of slave and program FMMU */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
configadr = context->slavelist[slave].configadr;
ecx_statecheck(context, slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */
EC_PRINT(" >Slave %d, configadr %x, state %2.2x\n",
slave, context->slavelist[slave].configadr, context->slavelist[slave].state);
/* execute special slave configuration hook Pre-Op to Safe-OP */
if(context->slavelist[slave].PO2SOconfig) /* only if registered */
{
context->slavelist[slave].PO2SOconfig(slave);
}
if (!group || (group == context->slavelist[slave].group))
{
/* if slave not found in configlist find IO mapping in slave self */
if (!context->slavelist[slave].configindex)
{
Isize = 0;
Osize = 0;
if (context->slavelist[slave].mbx_proto & ECT_MBXPROT_COE) /* has CoE */
{
rval = 0;
if (context->slavelist[slave].CoEdetails & ECT_COEDET_SDOCA) /* has Complete Access */
/* read PDO mapping via CoE and use Complete Access */
{
rval = ecx_readPDOmapCA(context, slave, &Osize, &Isize);
}
if (!rval) /* CA not available or not succeeded */
{
/* read PDO mapping via CoE */
rval = ecx_readPDOmap(context, slave, &Osize, &Isize);
}
EC_PRINT(" CoE Osize:%d Isize:%d\n", Osize, Isize);
}
if ((!Isize && !Osize) && (context->slavelist[slave].mbx_proto & ECT_MBXPROT_SOE)) /* has SoE */
{
/* read AT / MDT mapping via SoE */
rval = ecx_readIDNmap(context, slave, &Osize, &Isize);
context->slavelist[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
context->slavelist[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
EC_PRINT(" SoE Osize:%d Isize:%d\n", Osize, Isize);
}
if (!Isize && !Osize) /* find PDO mapping by SII */
{
memset(&eepPDO, 0, sizeof(eepPDO));
Isize = (int)ecx_siiPDO(context, slave, &eepPDO, 0);
EC_PRINT(" SII Isize:%d\n", Isize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
{
context->slavelist[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
context->slavelist[slave].SMtype[nSM] = 4;
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
}
}
Osize = (int)ecx_siiPDO(context, slave, &eepPDO, 1);
EC_PRINT(" SII Osize:%d\n", Osize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
{
context->slavelist[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
context->slavelist[slave].SMtype[nSM] = 3;
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
}
}
}
context->slavelist[slave].Obits = Osize;
context->slavelist[slave].Ibits = Isize;
EC_PRINT(" ISIZE:%d %d OSIZE:%d\n",
context->slavelist[slave].Ibits, Isize,context->slavelist[slave].Obits);
}
EC_PRINT(" SM programming\n");
if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[0].StartAddr)
{
ecx_FPWR(context->port, configadr, ECT_REG_SM0,
sizeof(ec_smt), &(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
EC_PRINT(" SM0 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[0],
context->slavelist[slave].SM[0].StartAddr,
context->slavelist[slave].SM[0].SMflags);
}
if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[1].StartAddr)
{
ecx_FPWR(context->port, configadr, ECT_REG_SM1,
sizeof(ec_smt), &context->slavelist[slave].SM[1], EC_TIMEOUTRET3);
EC_PRINT(" SM1 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[1],
context->slavelist[slave].SM[1].StartAddr,
context->slavelist[slave].SM[1].SMflags);
}
/* program SM2 to SMx */
for( nSM = 2 ; nSM < EC_MAXSM ; nSM++ )
{
if (context->slavelist[slave].SM[nSM].StartAddr)
{
/* check if SM length is zero -> clear enable flag */
if( context->slavelist[slave].SM[nSM].SMlength == 0)
{
context->slavelist[slave].SM[nSM].SMflags =
htoel( etohl(context->slavelist[slave].SM[nSM].SMflags) & EC_SMENABLEMASK);
}
ecx_FPWR(context->port, configadr, ECT_REG_SM0 + (nSM * sizeof(ec_smt)),
sizeof(ec_smt), &context->slavelist[slave].SM[nSM], EC_TIMEOUTRET3);
EC_PRINT(" SM%d Type:%d StartAddr:%4.4x Flags:%8.8x\n", nSM,
context->slavelist[slave].SMtype[nSM],
context->slavelist[slave].SM[nSM].StartAddr,
context->slavelist[slave].SM[nSM].SMflags);
}
}
if (context->slavelist[slave].Ibits > 7)
{
context->slavelist[slave].Ibytes = (context->slavelist[slave].Ibits + 7) / 8;
}
if (context->slavelist[slave].Obits > 7)
{
context->slavelist[slave].Obytes = (context->slavelist[slave].Obits + 7) / 8;
}
FMMUc = context->slavelist[slave].FMMUunused;
SMc = 0;
BitCount = 0;
ByteCount = 0;
EndAddr = 0;
FMMUsize = 0;
FMMUdone = 0;
/* create output mapping */
if (context->slavelist[slave].Obits)
{
EC_PRINT(" OUTPUT MAPPING\n");
/* search for SM that contribute to the output mapping */
while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((context->slavelist[slave].Obits + 7) / 8)))
{
EC_PRINT(" FMMU %d\n", FMMUc);
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 3)) SMc++;
EC_PRINT(" SM%d\n", SMc);
context->slavelist[slave].FMMU[FMMUc].PhysStart =
context->slavelist[slave].SM[SMc].StartAddr;
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
while ( (BitCount < context->slavelist[slave].Obits) && (SMc < (EC_MAXSM - 1)) ) /* more SM for output */
{
SMc++;
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 3)) SMc++;
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr )
{
break;
}
EC_PRINT(" SM%d\n", SMc);
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
}
/* bit oriented slave */
if (!context->slavelist[slave].Obytes)
{
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos += context->slavelist[slave].Obits - 1;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
FMMUsize = LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos ++;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
}
/* byte oriented slave */
else
{
if (BitPos)
{
LogAddr++;
BitPos = 0;
}
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos = 7;
FMMUsize = ByteCount;
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Obytes)
{
FMMUsize = context->slavelist[slave].Obytes - FMMUdone;
}
LogAddr += FMMUsize;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos = 0;
}
FMMUdone += FMMUsize;
context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
context->slavelist[slave].FMMU[FMMUc].FMMUtype = 2;
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for output */
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
context->grouplist[group].outputsWKC++;
if (!context->slavelist[slave].outputs)
{
context->slavelist[slave].outputs =
(uint8 *)(pIOmap) + etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
context->slavelist[slave].Ostartbit =
context->slavelist[slave].FMMU[FMMUc].LogStartbit;
EC_PRINT(" slave %d Outputs %p startbit %d\n",
slave,
context->slavelist[slave].outputs,
context->slavelist[slave].Ostartbit);
}
FMMUc++;
}
context->slavelist[slave].FMMUunused = FMMUc;
diff = LogAddr - oLogAddr;
oLogAddr = LogAddr;
if ((segmentsize + diff) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
{
context->grouplist[group].IOsegment[currentsegment] = segmentsize;
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = diff;
}
}
else
{
segmentsize += diff;
}
}
}
}
if (BitPos)
{
LogAddr++;
oLogAddr = LogAddr;
BitPos = 0;
if ((segmentsize + 1) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
{
context->grouplist[group].IOsegment[currentsegment] = segmentsize;
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = 1;
}
}
else
{
segmentsize += 1;
}
}
context->grouplist[group].outputs = pIOmap;
context->grouplist[group].Obytes = LogAddr;
context->grouplist[group].nsegments = currentsegment + 1;
context->grouplist[group].Isegment = currentsegment;
context->grouplist[group].Ioffset = segmentsize;
if (!group)
{
context->slavelist[0].outputs = pIOmap;
context->slavelist[0].Obytes = LogAddr; /* store output bytes in master record */
}
/* do input mapping of slave and program FMMUs */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
configadr = context->slavelist[slave].configadr;
FMMUc = context->slavelist[slave].FMMUunused;
if (context->slavelist[slave].Obits) /* find free FMMU */
{
while ( context->slavelist[slave].FMMU[FMMUc].LogStart ) FMMUc++;
}
SMc = 0;
BitCount = 0;
ByteCount = 0;
EndAddr = 0;
FMMUsize = 0;
FMMUdone = 0;
/* create input mapping */
if (context->slavelist[slave].Ibits)
{
EC_PRINT(" =Slave %d, INPUT MAPPING\n", slave);
/* search for SM that contribute to the input mapping */
while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((context->slavelist[slave].Ibits + 7) / 8)))
{
EC_PRINT(" FMMU %d\n", FMMUc);
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4)) SMc++;
EC_PRINT(" SM%d\n", SMc);
context->slavelist[slave].FMMU[FMMUc].PhysStart =
context->slavelist[slave].SM[SMc].StartAddr;
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
while ( (BitCount < context->slavelist[slave].Ibits) && (SMc < (EC_MAXSM - 1)) ) /* more SM for input */
{
SMc++;
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4)) SMc++;
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr )
{
break;
}
EC_PRINT(" SM%d\n", SMc);
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
}
/* bit oriented slave */
if (!context->slavelist[slave].Ibytes)
{
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos += context->slavelist[slave].Ibits - 1;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
FMMUsize = LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos ++;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
}
/* byte oriented slave */
else
{
if (BitPos)
{
LogAddr++;
BitPos = 0;
}
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos = 7;
FMMUsize = ByteCount;
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Ibytes)
{
FMMUsize = context->slavelist[slave].Ibytes - FMMUdone;
}
LogAddr += FMMUsize;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos = 0;
}
FMMUdone += FMMUsize;
if (context->slavelist[slave].FMMU[FMMUc].LogLength)
{
context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
context->slavelist[slave].FMMU[FMMUc].FMMUtype = 1;
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for input */
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
/* add one for an input FMMU */
context->grouplist[group].inputsWKC++;
}
if (!context->slavelist[slave].inputs)
{
context->slavelist[slave].inputs =
(uint8 *)(pIOmap) + etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
context->slavelist[slave].Istartbit =
context->slavelist[slave].FMMU[FMMUc].LogStartbit;
EC_PRINT(" Inputs %p startbit %d\n",
context->slavelist[slave].inputs,
context->slavelist[slave].Istartbit);
}
FMMUc++;
}
context->slavelist[slave].FMMUunused = FMMUc;
diff = LogAddr - oLogAddr;
oLogAddr = LogAddr;
if ((segmentsize + diff) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
{
context->grouplist[group].IOsegment[currentsegment] = segmentsize;
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = diff;
}
}
else
{
segmentsize += diff;
}
}
ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , EC_TIMEOUTRET3); /* set safeop status */
if (context->slavelist[slave].blockLRW)
{
context->grouplist[group].blockLRW++;
}
context->grouplist[group].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
}
if (BitPos)
{
LogAddr++;
oLogAddr = LogAddr;
BitPos = 0;
if ((segmentsize + 1) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
{
context->grouplist[group].IOsegment[currentsegment] = segmentsize;
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = 1;
}
}
else
{
segmentsize += 1;
}
}
context->grouplist[group].IOsegment[currentsegment] = segmentsize;
context->grouplist[group].nsegments = currentsegment + 1;
context->grouplist[group].inputs = (uint8 *)(pIOmap) + context->grouplist[group].Obytes;
context->grouplist[group].Ibytes = LogAddr - context->grouplist[group].Obytes;
if (!group)
{
context->slavelist[0].inputs = (uint8 *)(pIOmap) + context->slavelist[0].Obytes;
context->slavelist[0].Ibytes = LogAddr - context->slavelist[0].Obytes; /* store input bytes in master record */
}
EC_PRINT("IOmapSize %d\n", LogAddr - context->grouplist[group].logstartaddr);
return (LogAddr - context->grouplist[group].logstartaddr);
}
return 0;
}
/** 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;
}
/** FoE read, blocking.
*
* @param[in] slave = Slave number.
* @param[in] filename = Filename of file to read.
* @param[in] password = password.
* @param[in,out] psize = Size in bytes of file buffer, returns bytes read from file.
* @param[out] p = Pointer to file buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)
{
ec_FOEt *FOEp, *aFOEp;
int wkc;
int32 dataread = 0;
int32 buffersize, packetnumber, prevpacket = 0;
uint16 fnsize, maxdata, segmentdata;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
boolean worktodo;
buffersize = *psize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aFOEp = (ec_FOEt *)&MbxIn;
FOEp = (ec_FOEt *)&MbxOut;
fnsize = strlen(filename);
maxdata = ec_slave[slave].mbx_l - 12;
if (fnsize > maxdata)
fnsize = maxdata;
FOEp->MbxHeader.length = htoes(0x0006 + fnsize);
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(ec_slave[slave].mbx_cnt);
ec_slave[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_READ;
FOEp->Password = htoel(password);
/* copy filename in mailbox */
memcpy(&FOEp->FileName[0], filename, fnsize);
/* send FoE request to slave */
wkc = ec_mbxsend(slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
do
{
worktodo = FALSE;
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be FoE */
if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE)
{
if(aFOEp->OpCode == ECT_FOE_DATA)
{
segmentdata = etohs(aFOEp->MbxHeader.length) - 0x0006;
packetnumber = etohl(aFOEp->PacketNumber);
if ((packetnumber == ++prevpacket) && (dataread + segmentdata <= buffersize))
{
memcpy(p, &aFOEp->Data[0], segmentdata);
dataread += segmentdata;
p += segmentdata;
if (segmentdata == maxdata)
worktodo = TRUE;
FOEp->MbxHeader.length = htoes(0x0006);
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value */
cnt = ec_nextmbxcnt(ec_slave[slave].mbx_cnt);
ec_slave[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_ACK;
FOEp->PacketNumber = htoel(packetnumber);
/* send FoE ack to slave */
wkc = ec_mbxsend(slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc <= 0)
worktodo = FALSE;
}
else
{
/* FoE error */
wkc = -EC_ERR_TYPE_FOE_BUF2SMALL;
}
}
else
if(aFOEp->OpCode == ECT_FOE_ERROR)
{
/* FoE error */
wkc = -EC_ERR_TYPE_FOE_ERROR;
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
*psize = dataread;
}
} while (worktodo);
}
return wkc;
}
/** FoE write, blocking.
*
* @param[in] context = context struct
* @param[in] slave = Slave number.
* @param[in] filename = Filename of file to write.
* @param[in] password = password.
* @param[in] psize = Size in bytes of file buffer.
* @param[out] p = Pointer to file buffer
* @param[in] timeout = Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout)
{
ec_FOEt *FOEp, *aFOEp;
int wkc;
int32 packetnumber, sendpacket = 0;
uint16 fnsize, maxdata;
int segmentdata;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
boolean worktodo, dofinalzero;
int tsize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aFOEp = (ec_FOEt *)&MbxIn;
FOEp = (ec_FOEt *)&MbxOut;
dofinalzero = FALSE;
fnsize = strlen(filename);
maxdata = context->slavelist[slave].mbx_l - 12;
if (fnsize > maxdata)
{
fnsize = maxdata;
}
FOEp->MbxHeader.length = htoes(0x0006 + fnsize);
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_WRITE;
FOEp->Password = htoel(password);
/* copy filename in mailbox */
memcpy(&FOEp->FileName[0], filename, fnsize);
/* send FoE request to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
do
{
worktodo = FALSE;
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be FoE */
if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE)
{
switch (aFOEp->OpCode)
{
case ECT_FOE_ACK:
{
packetnumber = etohl(aFOEp->PacketNumber);
if (packetnumber == sendpacket)
{
if (context->FOEhook)
{
context->FOEhook(slave, packetnumber, psize);
}
tsize = psize;
if (tsize > maxdata)
{
tsize = maxdata;
}
if(tsize || dofinalzero)
{
worktodo = TRUE;
dofinalzero = FALSE;
segmentdata = tsize;
psize -= segmentdata;
/* if last packet was full size, add a zero size packet as final */
/* EOF is defined as packetsize < full packetsize */
if (!psize && (segmentdata == maxdata))
{
dofinalzero = TRUE;
}
FOEp->MbxHeader.length = htoes(0x0006 + segmentdata);
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_DATA;
sendpacket++;
FOEp->PacketNumber = htoel(sendpacket);
memcpy(&FOEp->Data[0], p, segmentdata);
p = (uint8 *)p + segmentdata;
/* send FoE data to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc <= 0)
{
worktodo = FALSE;
}
}
}
else
{
/* FoE error */
wkc = -EC_ERR_TYPE_FOE_PACKETNUMBER;
}
break;
}
case ECT_FOE_BUSY:
{
/* resend if data has been send before */
/* otherwise ignore */
if (sendpacket)
{
if (!psize)
{
dofinalzero = TRUE;
}
psize += segmentdata;
p = (uint8 *)p - segmentdata;
--sendpacket;
}
break;
}
case ECT_FOE_ERROR:
{
/* FoE error */
wkc = -EC_ERR_TYPE_FOE_ERROR;
break;
}
default:
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
break;
}
}
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
}
} while (worktodo);
}
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;
}
/** Map all PDOs from slaves to IOmap.
*
* @param[out] pIOmap = pointer to IOmap
* @return IOmap size
*/
int ec_config_map(void *pIOmap)
{
uint16 slave, configadr;
int Isize, Osize, BitCount, ByteCount, FMMUsize, FMMUdone;
uint16 SMlength;
uint8 BitPos, EndAddr;
uint8 SMc, FMMUc;
uint32 LogAddr = 0;
int nSM, rval;
ec_eepromPDOt eepPDO;
if (ec_slavecount > 0)
{
LogAddr = 0;
BitPos = 0;
/* find output mapping of slave and program FMMU0 */
for (slave = 1; slave <= ec_slavecount; slave++)
{
configadr = ec_slave[slave].configadr;
ec_statecheck(slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); //* check state change pre-op */
/* if slave not found in configlist find IO mapping in slave self */
if (!ec_slave[slave].configindex)
{
Isize = 0;
Osize = 0;
if (ec_slave[slave].mbx_proto & ECT_MBXPROT_COE) /* has CoE */
{
if (ec_slave[slave].CoEdetails & ECT_COEDET_SDOCA) /* has Complete Access */
{
/* read PDO mapping via CoE and use Complete Access */
rval = ec_readPDOmapCA(slave, &Osize, &Isize);
}
else
{
/* read PDO mapping via CoE */
rval = ec_readPDOmap(slave, &Osize, &Isize);
}
ec_slave[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
ec_slave[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
}
if ((!Isize && !Osize) && (ec_slave[slave].mbx_proto & ECT_MBXPROT_SOE)) /* has SoE */
{
/* read AT / MDT mapping via SoE */
rval = ec_readIDNmap(slave, &Osize, &Isize);
ec_slave[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
ec_slave[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
}
if (!Isize && !Osize) /* find PDO mapping by SII */
{
Isize = ec_siiPDO (slave, &eepPDO, 0);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
{
ec_slave[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
ec_slave[slave].SMtype[nSM] = 3;
}
}
Osize = ec_siiPDO (slave, &eepPDO, 1);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
{
ec_slave[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
ec_slave[slave].SMtype[nSM] = 2;
}
}
}
ec_slave[slave].Obits = Osize;
ec_slave[slave].Ibits = Isize;
}
if (!ec_slave[slave].mbx_l && ec_slave[slave].SM[0].StartAddr)
{
ec_FPWR (configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
}
if (!ec_slave[slave].mbx_l && ec_slave[slave].SM[1].StartAddr)
{
ec_FPWR (configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
}
if (ec_slave[slave].SM[2].StartAddr)
{
/* check if SM length is zero -> clear enable flag */
if( ec_slave[slave].SM[2].SMlength == 0)
ec_slave[slave].SM[2].SMflags = htoel( etohl(ec_slave[slave].SM[2].SMflags) & EC_SMENABLEMASK);
ec_FPWR (configadr, ECT_REG_SM2, sizeof(ec_smt), &ec_slave[slave].SM[2], EC_TIMEOUTRET);
}
// usleep(1000); // was needed for NETX (needs internal time after SM update)
if (ec_slave[slave].SM[3].StartAddr)
{
/* check if SM length is zero -> clear enable flag */
if( ec_slave[slave].SM[3].SMlength == 0)
ec_slave[slave].SM[3].SMflags = htoel( etohl(ec_slave[slave].SM[3].SMflags) & EC_SMENABLEMASK);
ec_FPWR (configadr, ECT_REG_SM3, sizeof(ec_smt), &ec_slave[slave].SM[3], EC_TIMEOUTRET);
}
if (ec_slave[slave].Ibits > 7)
ec_slave[slave].Ibytes = (ec_slave[slave].Ibits + 7) / 8;
if (ec_slave[slave].Obits > 7)
ec_slave[slave].Obytes = (ec_slave[slave].Obits + 7) / 8;
FMMUc = 0;
SMc = 0;
BitCount = 0;
ByteCount = 0;
EndAddr = 0;
FMMUsize = 0;
FMMUdone = 0;
/* create output mapping */
if (ec_slave[slave].Obits)
{
/* search for SM that contribute to the output mapping */
while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((ec_slave[slave].Obits + 7) / 8)))
{
while ( (SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 2)) SMc++;
ec_slave[slave].FMMU[FMMUc].PhysStart = ec_slave[slave].SM[SMc].StartAddr;
SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr) + SMlength;
while ( (BitCount < ec_slave[slave].Obits) && (SMc < (EC_MAXSM - 1)) ) /* more SM for output */
{
SMc++;
while ( (SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 2)) SMc++;
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
if ( etohs(ec_slave[slave].SM[SMc].StartAddr) > EndAddr ) break;
SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr) + SMlength;
}
/* bit oriented slave */
if (!ec_slave[slave].Obytes)
{
ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos += ec_slave[slave].Obits - 1;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
FMMUsize = LogAddr - etohl(ec_slave[slave].FMMU[FMMUc].LogStart) + 1;
ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos ++;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
}
/* byte oriented slave */
else
{
if (BitPos)
{
LogAddr++;
BitPos = 0;
}
ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos = 7;
FMMUsize = ByteCount;
if ((FMMUsize + FMMUdone)> ec_slave[slave].Obytes)
FMMUsize = ec_slave[slave].Obytes - FMMUdone;
LogAddr += FMMUsize;
ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos = 0;
}
FMMUdone += FMMUsize;
ec_slave[slave].FMMU[FMMUc].PhysStartBit = 0;
ec_slave[slave].FMMU[FMMUc].FMMUtype = 2;
ec_slave[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for output */
ec_FPWR (configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc), sizeof(ec_fmmut),
&ec_slave[slave].FMMU[FMMUc], EC_TIMEOUTRET);
if (!ec_slave[slave].outputs)
{
ec_slave[slave].outputs = pIOmap + etohl(ec_slave[slave].FMMU[FMMUc].LogStart);
ec_slave[slave].Ostartbit = ec_slave[slave].FMMU[FMMUc].LogStartbit;
}
FMMUc++;
}
}
}
ec_slave[0].outputs = pIOmap;
if (BitPos)
{
LogAddr++;
BitPos = 0;
}
ec_slave[0].Obytes = LogAddr; /* store output bytes in master record */
/* do input mapping of slave and program FMMUs */
for (slave = 1; slave <= ec_slavecount; slave++)
{
configadr = ec_slave[slave].configadr;
FMMUc = 1;
if (ec_slave[slave].Obits) /* find free FMMU */
{
while ( ec_slave[slave].FMMU[FMMUc].LogStart ) FMMUc++;
}
SMc = 0;
BitCount = 0;
ByteCount = 0;
EndAddr = 0;
FMMUsize = 0;
FMMUdone = 0;
/* create input mapping */
if (ec_slave[slave].Ibits)
{
/* search for SM that contribute to the input mapping */
while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((ec_slave[slave].Ibits + 7) / 8)))
{
while ( (SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 3)) SMc++;
ec_slave[slave].FMMU[FMMUc].PhysStart = ec_slave[slave].SM[SMc].StartAddr;
SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr) + SMlength;
while ( (BitCount < ec_slave[slave].Obits) && (SMc < (EC_MAXSM - 1)) ) /* more SM for input */
{
SMc++;
while ( (SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 3)) SMc++;
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
if ( etohs(ec_slave[slave].SM[SMc].StartAddr) > EndAddr ) break;
SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr) + SMlength;
}
/* bit oriented slave */
if (!ec_slave[slave].Ibytes)
{
ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos += ec_slave[slave].Ibits - 1;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
FMMUsize = LogAddr - etohl(ec_slave[slave].FMMU[FMMUc].LogStart) + 1;
ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos ++;
if (BitPos > 7)
{
LogAddr++;
BitPos -= 8;
}
}
/* byte oriented slave */
else
{
if (BitPos)
{
LogAddr++;
BitPos = 0;
}
ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos = 7;
FMMUsize = ByteCount;
if ((FMMUsize + FMMUdone)> ec_slave[slave].Ibytes)
FMMUsize = ec_slave[slave].Ibytes - FMMUdone;
LogAddr += FMMUsize;
ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
BitPos = 0;
}
FMMUdone += FMMUsize;
if (ec_slave[slave].FMMU[FMMUc].LogLength)
{
ec_slave[slave].FMMU[FMMUc].PhysStartBit = 0;
ec_slave[slave].FMMU[FMMUc].FMMUtype = 1;
ec_slave[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for input */
ec_FPWR (configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc), sizeof(ec_fmmut),
&ec_slave[slave].FMMU[FMMUc], EC_TIMEOUTRET);
}
if (!ec_slave[slave].inputs)
{
ec_slave[slave].inputs = pIOmap + etohl(ec_slave[slave].FMMU[FMMUc].LogStart);
ec_slave[slave].Istartbit = ec_slave[slave].FMMU[FMMUc].LogStartbit;
}
FMMUc++;
}
}
ec_eeprom2pdi(slave); /* set Eeprom control to PDI */
ec_FPWRw(configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , EC_TIMEOUTRET); /* set safeop status */
}
ec_slave[0].inputs = pIOmap + ec_slave[0].Obytes;
if (BitPos)
{
LogAddr++;
BitPos = 0;
}
ec_slave[0].Ibytes = LogAddr - ec_slave[0].Obytes; /* store input bytes in master record */
}
return LogAddr;
}
/** Enumerate and init all slaves.
*
* @param[in] usetable = TRUE when using configtable to init slaves, FALSE otherwise
* @return Workcounter of slave discover datagram = number of slaves found
*/
int ec_config_init(uint8 usetable)
{
uint16 w, slave, ADPh, configadr, mbx_wo, mbx_ro, mbx_l, ssigen;
uint16 topology, estat;
int16 topoc, slavec;
uint8 b,h;
uint8 zbuf[64];
uint8 SMc;
uint32 eedat;
int wkc, cindex, nSM;
ec_slavecount = 0;
/* clean ec_slave array */
memset(&ec_slave, 0x00, sizeof(ec_slave));
memset(&zbuf, 0x00, sizeof(zbuf));
w = 0x0000;
wkc = ec_BRD(0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
if (wkc > 0)
{
ec_slavecount = wkc;
b = 0x00;
ec_BWR(0x0000, ECT_REG_DLPORT, sizeof(b), &b, EC_TIMEOUTRET); /* deact loop manual */
w = htoes(0x0004);
ec_BWR(0x0000, ECT_REG_IRQMASK, sizeof(w), &w, EC_TIMEOUTRET); /* set IRQ mask */
ec_BWR(0x0000, ECT_REG_RXERR, 8, &zbuf, EC_TIMEOUTRET); /* reset CRC counters */
ec_BWR(0x0000, ECT_REG_FMMU0, 16 * 3, &zbuf, EC_TIMEOUTRET); /* reset FMMU's */
ec_BWR(0x0000, ECT_REG_SM0, 8 * 4, &zbuf, EC_TIMEOUTRET); /* reset SyncM */
ec_BWR(0x0000, ECT_REG_DCSYSTIME, 4, &zbuf, EC_TIMEOUTRET); /* reset system time+ofs */
w = htoes(0x1000);
ec_BWR(0x0000, ECT_REG_DCSPEEDCNT, sizeof(w), &w, EC_TIMEOUTRET); /* DC speedstart */
w = htoes(0x0c00);
ec_BWR(0x0000, ECT_REG_DCTIMEFILT, sizeof(w), &w, EC_TIMEOUTRET); /* DC filt expr */
b = 0x00;
ec_BWR(0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET); /* Ignore Alias register */
b = EC_STATE_INIT | EC_STATE_ACK;
ec_BWR(0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET); /* Reset all slaves to Init */
b = 2;
ec_BWR(0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET); /* force Eeprom from PDI */
b = 0;
ec_BWR(0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET); /* set Eeprom to master */
for (slave = 1; slave <= ec_slavecount; slave++)
{
ADPh = (uint16)(1 - slave);
ec_slave[slave].Itype = etohs(ec_APRDw(ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET)); /* 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) */
ec_APWRw(ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET); /* 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 */
}
ec_APWRw(ADPh, ECT_REG_DLCTL, htoes(b), EC_TIMEOUTRET); /* set non ecat frame behaviour */
configadr = etohs(ec_APRDw(ADPh, ECT_REG_STADR, EC_TIMEOUTRET));
ec_slave[slave].configadr = configadr;
ec_FPRD(configadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET);
estat = etohs(estat);
if ((estat & (1 << 6))) /* check if slave can read 8 byte chunks */
{
ec_slave[slave].eep_8byte = 1;
}
ec_readeeprom1(slave, ECT_SII_MANUF); /* Manuf */
}
for (slave = 1; slave <= ec_slavecount; slave++)
{
ec_slave[slave].eep_man = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* Manuf */
ec_readeeprom1(slave, ECT_SII_ID); /* ID */
}
for (slave = 1; slave <= ec_slavecount; slave++)
{
ec_slave[slave].eep_id = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* ID */
ec_readeeprom1(slave, ECT_SII_REV); /* revision */
}
for (slave = 1; slave <= ec_slavecount; slave++)
{
ec_slave[slave].eep_rev = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* revision */
ec_readeeprom1(slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
}
for (slave = 1; slave <= ec_slavecount; slave++)
{
eedat = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* write mailbox address and mailboxsize */
ec_slave[slave].mbx_wo = (uint16)LO_WORD(eedat);
ec_slave[slave].mbx_l = (uint16)HI_WORD(eedat);
if (ec_slave[slave].mbx_l > 0)
{
ec_readeeprom1(slave, ECT_SII_TXMBXADR); /* read mailbox offset */
}
}
for (slave = 1; slave <= ec_slavecount; slave++)
{
if (ec_slave[slave].mbx_l > 0)
{
ec_slave[slave].mbx_ro = (uint16)etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* read mailbox offset */
}
configadr = ec_slave[slave].configadr;
mbx_ro = ec_slave[slave].mbx_ro;
mbx_wo = ec_slave[slave].mbx_wo;
mbx_l = ec_slave[slave].mbx_l;
if ((etohs(ec_FPRDw(configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET)) & 0x04) > 0) /* Support DC? */
{
ec_slave[slave].hasdc = TRUE;
}
else
{
ec_slave[slave].hasdc = FALSE;
}
topology = etohs(ec_FPRDw(configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET)); /* 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*/
ec_slave[slave].ptype = LO_BYTE(etohs(ec_FPRDw(configadr, ECT_REG_PORTDES, EC_TIMEOUTRET)));
ec_slave[slave].topology = h;
ec_slave[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 */
ec_slave[slave].parent = 0; /* parent is master */
if (slave > 1)
{
topoc = 0;
slavec = slave - 1;
do
{
topology = ec_slave[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 */
{
ec_slave[slave].parent = slavec;
slavec = 1;
}
slavec--;
}
while (slavec > 0);
}
w = ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE); //* check state change Init */
/* set default mailbox configuration if slave has mailbox */
if (ec_slave[slave].mbx_l>0)
{
ec_slave[slave].SMtype[0] = 0;
ec_slave[slave].SMtype[1] = 1;
ec_slave[slave].SMtype[2] = 2;
ec_slave[slave].SMtype[3] = 3;
ec_slave[slave].SM[0].StartAddr = htoes(ec_slave[slave].mbx_wo);
ec_slave[slave].SM[0].SMlength = htoes(ec_slave[slave].mbx_l);
ec_slave[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
ec_slave[slave].SM[1].StartAddr = htoes(ec_slave[slave].mbx_ro);
ec_slave[slave].SM[1].SMlength = htoes(ec_slave[slave].mbx_l);
ec_slave[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
ec_slave[slave].mbx_proto = ec_readeeprom (slave, ECT_SII_MBXPROTO, EC_TIMEOUTEEP);
}
cindex = 0;
/* use configuration table ? */
if (usetable)
{
cindex = ec_findconfig( ec_slave[slave].eep_man, ec_slave[slave].eep_id );
ec_slave[slave].configindex= cindex;
}
/* slave found in configuration table ? */
if (cindex)
{
ec_slave[slave].Dtype = ec_configlist[cindex].Dtype;
strcpy( ec_slave[slave].name ,ec_configlist[cindex].name);
ec_slave[slave].Ibits = ec_configlist[cindex].Ibits;
ec_slave[slave].Obits = ec_configlist[cindex].Obits;
if (ec_slave[slave].Obits)
{
ec_slave[slave].FMMU0func = 1;
}
if (ec_slave[slave].Ibits)
{
ec_slave[slave].FMMU1func = 2;
}
ec_slave[slave].FMMU[0].FMMUactive = ec_configlist[cindex].FM0ac;
ec_slave[slave].FMMU[1].FMMUactive = ec_configlist[cindex].FM1ac;
ec_slave[slave].SM[2].StartAddr = htoes(ec_configlist[cindex].SM2a);
ec_slave[slave].SM[2].SMflags = htoel(ec_configlist[cindex].SM2f);
/* simple (no mailbox) output slave found ? */
if (ec_slave[slave].Obits && !ec_slave[slave].SM[2].StartAddr)
{
ec_slave[slave].SM[0].StartAddr = htoes(0x0f00);
ec_slave[slave].SM[0].SMlength = htoes((ec_slave[slave].Obits + 7) / 8);
ec_slave[slave].SM[0].SMflags = htoel(EC_DEFAULTDOSM0);
ec_slave[slave].FMMU[0].FMMUactive = 1;
ec_slave[slave].FMMU[0].FMMUtype = 2;
ec_slave[slave].SMtype[0] = 2;
}
/* complex output slave */
else
{
ec_slave[slave].SM[2].SMlength = htoes((ec_slave[slave].Obits + 7) / 8);
ec_slave[slave].SMtype[2] = 2;
}
ec_slave[slave].SM[3].StartAddr = htoes(ec_configlist[cindex].SM3a);
ec_slave[slave].SM[3].SMflags = htoel(ec_configlist[cindex].SM3f);
/* simple (no mailbox) input slave found ? */
if (ec_slave[slave].Ibits && !ec_slave[slave].SM[3].StartAddr)
{
ec_slave[slave].SM[1].StartAddr = htoes(0x1000);
ec_slave[slave].SM[1].SMlength = htoes((ec_slave[slave].Ibits + 7) / 8);
ec_slave[slave].SM[1].SMflags = htoel(0x00000000);
ec_slave[slave].FMMU[1].FMMUactive = 1;
ec_slave[slave].FMMU[1].FMMUtype = 1;
ec_slave[slave].SMtype[1] = 3;
}
/* complex input slave */
else
{
ec_slave[slave].SM[3].SMlength = htoes((ec_slave[slave].Ibits + 7) / 8);
ec_slave[slave].SMtype[3] = 3;
}
}
/* slave not in configuration table, find out via SII */
else
{
ssigen = ec_siifind(slave, ECT_SII_GENERAL);
/* SII general section */
if (ssigen)
{
ec_slave[slave].CoEdetails = ec_siigetbyte(slave, ssigen + 0x07);
ec_slave[slave].FoEdetails = ec_siigetbyte(slave, ssigen + 0x08);
ec_slave[slave].EoEdetails = ec_siigetbyte(slave, ssigen + 0x09);
ec_slave[slave].SoEdetails = ec_siigetbyte(slave, ssigen + 0x0a);
if((ec_siigetbyte(slave, ssigen + 0x0d) & 0x02) > 0)
{
ec_slave[slave].blockLRW = 1;
ec_slave[0].blockLRW++;
}
ec_slave[slave].Ebuscurrent = ec_siigetbyte(slave, ssigen + 0x0e);
ec_slave[slave].Ebuscurrent += ec_siigetbyte(slave, ssigen + 0x0f) << 8;
ec_slave[0].Ebuscurrent += ec_slave[slave].Ebuscurrent;
}
/* SII strings section */
if (ec_siifind(slave, ECT_SII_STRING) > 0)
{
ec_siistring(ec_slave[slave].name, slave, 1);
}
/* no name for slave found, use constructed name */
else
{
sprintf(ec_slave[slave].name, "? M:%8.8x I:%8.8x",
(unsigned int)ec_slave[slave].eep_man, (unsigned int)ec_slave[slave].eep_id);
}
/* SII SM section */
nSM = ec_siiSM (slave,&ec_SM);
if (nSM>0)
{
ec_slave[slave].SM[0].StartAddr = htoes(ec_SM.PhStart);
ec_slave[slave].SM[0].SMlength = htoes(ec_SM.Plength);
ec_slave[slave].SM[0].SMflags = htoel((ec_SM.Creg) + (ec_SM.Activate << 16));
SMc = 1;
while ((SMc < EC_MAXSM) && ec_siiSMnext(slave, &ec_SM, SMc))
{
ec_slave[slave].SM[SMc].StartAddr = htoes(ec_SM.PhStart);
ec_slave[slave].SM[SMc].SMlength = htoes(ec_SM.Plength);
ec_slave[slave].SM[SMc].SMflags = htoel((ec_SM.Creg) + (ec_SM.Activate << 16));
SMc++;
}
}
/* SII FMMU section */
if (ec_siiFMMU(slave, &ec_FMMU))
{
if (ec_FMMU.FMMU0 !=0xff)
ec_slave[slave].FMMU0func = ec_FMMU.FMMU0;
if (ec_FMMU.FMMU1 !=0xff)
ec_slave[slave].FMMU1func = ec_FMMU.FMMU1;
if (ec_FMMU.FMMU2 !=0xff)
ec_slave[slave].FMMU2func = ec_FMMU.FMMU2;
if (ec_FMMU.FMMU3 !=0xff)
ec_slave[slave].FMMU3func = ec_FMMU.FMMU3;
}
}
if (ec_slave[slave].mbx_l > 0)
{
if (ec_slave[slave].SM[0].StartAddr == 0x0000) /* should never happen */
{
ec_slave[slave].SM[0].StartAddr = htoes(0x1000);
ec_slave[slave].SM[0].SMlength = htoes(0x0080);
ec_slave[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
ec_slave[slave].SMtype[0] = 0;
}
if (ec_slave[slave].SM[1].StartAddr == 0x0000) /* should never happen */
{
ec_slave[slave].SM[1].StartAddr = htoes(0x1080);
ec_slave[slave].SM[1].SMlength = htoes(0x0080);
ec_slave[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
ec_slave[slave].SMtype[1] = 1;
}
/* program SM0 mailbox in for slave */
ec_FPWR (configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
/* program SM1 mailbox out for slave */
// usleep(1000); // was needed for NETX (needs internal time after SM update)
ec_FPWR (configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
}
ec_FPWRw(configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK) , EC_TIMEOUTRET); /* set preop status */
}
}
return wkc;
}
