From 23ad81a414f5a8a720bf6b3965ef469dec3df6c6 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 20 Jun 2006 14:40:04 +0000
Subject: [PATCH] Variable-sized data fields, BK1120.
---
examples/mini/mini.c | 23 +++++----
include/ecrt.h | 5 +-
master/domain.c | 19 ++++----
master/fsm.c | 5 +-
master/master.c | 22 +++++++--
master/master.h | 4 +-
master/slave.c | 111 +++++++++++++++++++++++++++++++++++++++++++
master/slave.h | 18 +++++++
master/types.c | 22 +++++++--
9 files changed, 196 insertions(+), 33 deletions(-)
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index 46093c77..0cc05cf7 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -57,14 +57,14 @@ spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
// data fields
//void *r_ssi_input, *r_ssi_status, *r_4102[3];
+void *r_kbus_in;
// channels
uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
- {NULL, "3", "Beckhoff", "EL5001", "InputValue", 0},
- {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
+ {&r_kbus_in, "0", "Beckhoff", "BK1120", "Inputs", 0},
{}
};
@@ -133,6 +133,8 @@ void release_lock(void *data)
int __init init_mini_module(void)
{
+ ec_slave_t *slave;
+
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
if ((master = ecrt_request_master(0)) == NULL) {
@@ -155,6 +157,15 @@ int __init init_mini_module(void)
goto out_release_master;
}
+#if 1
+ printk(KERN_INFO "Setting variable data field sizes...\n");
+ if (!(slave = ecrt_master_get_slave(master, "0"))) {
+ printk(KERN_ERR "Failed to get slave!\n");
+ goto out_deactivate;
+ }
+ ecrt_slave_field_size(slave, "Inputs", 0, 1);
+#endif
+
printk(KERN_INFO "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR "Failed to activate master!\n");
@@ -191,14 +202,6 @@ int __init init_mini_module(void)
}
#endif
-#if 0
- printk(KERN_INFO "Writing alias...\n");
- if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
- printk(KERN_ERR "Failed to write alias!\n");
- goto out_deactivate;
- }
-#endif
-
#ifdef ASYNC
// send once and wait...
ecrt_master_prepare_async_io(master);
diff --git a/include/ecrt.h b/include/ecrt.h
index 00366993..8416c172 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -160,7 +160,10 @@ int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index,
int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index,
uint8_t sdo_subindex, uint8_t *data, size_t *size);
-int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);
+int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias); // deprecated!
+
+int ecrt_slave_field_size(ec_slave_t *slave, const char *field_name,
+ unsigned int field_index, size_t size);
/******************************************************************************
* Bitwise read/write macros
diff --git a/master/domain.c b/master/domain.c
index 5038c707..db8c026e 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -225,7 +225,7 @@ int ec_domain_add_command(ec_domain_t *domain, /**< EtherCAT domain */
*/
int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
- uint32_t base_address /**< Logische Basisadresse */
+ uint32_t base_address /**< logical base address */
)
{
ec_field_reg_t *field_reg;
@@ -234,12 +234,12 @@ int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
unsigned int i, j, cmd_count;
uint32_t field_off, field_off_cmd;
uint32_t cmd_offset;
- size_t cmd_data_size;
+ size_t cmd_data_size, sync_size;
ec_command_t *command;
domain->base_address = base_address;
- // Größe der Prozessdaten berechnen und Kommandos allozieren
+ // calculate size of process data and allocate memory
domain->data_size = 0;
cmd_offset = base_address;
cmd_data_size = 0;
@@ -249,20 +249,21 @@ int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
fmmu = &slave->fmmus[j];
if (fmmu->domain == domain) {
fmmu->logical_start_address = base_address + domain->data_size;
- domain->data_size += fmmu->sync->size;
- if (cmd_data_size + fmmu->sync->size > EC_MAX_DATA_SIZE) {
+ sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
+ domain->data_size += sync_size;
+ if (cmd_data_size + sync_size > EC_MAX_DATA_SIZE) {
if (ec_domain_add_command(domain, cmd_offset,
cmd_data_size)) return -1;
cmd_offset += cmd_data_size;
cmd_data_size = 0;
cmd_count++;
}
- cmd_data_size += fmmu->sync->size;
+ cmd_data_size += sync_size;
}
}
}
- // Letztes Kommando allozieren
+ // allocate last command
if (cmd_data_size) {
if (ec_domain_add_command(domain, cmd_offset, cmd_data_size))
return -1;
@@ -275,14 +276,14 @@ int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
return 0;
}
- // Alle Prozessdatenzeiger setzen
+ // set all process data pointers
list_for_each_entry(field_reg, &domain->field_regs, list) {
for (i = 0; i < field_reg->slave->fmmu_count; i++) {
fmmu = &field_reg->slave->fmmus[i];
if (fmmu->domain == domain && fmmu->sync == field_reg->sync) {
field_off = fmmu->logical_start_address +
field_reg->field_offset;
- // Kommando suchen
+ // search command
list_for_each_entry(command, &domain->commands, list) {
field_off_cmd = field_off - command->address.logical;
if (field_off >= command->address.logical &&
diff --git a/master/fsm.c b/master/fsm.c
index 93147597..8162b68e 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -1128,7 +1128,7 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
if (slave->type) {
for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
sync = slave->type->sync_managers[j];
- ec_sync_config(sync, command->data + EC_SYNC_SIZE * j);
+ ec_sync_config(sync, slave, command->data + EC_SYNC_SIZE * j);
}
}
@@ -1247,7 +1247,8 @@ void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
for (j = 0; j < slave->fmmu_count; j++) {
- ec_fmmu_config(&slave->fmmus[j], command->data + EC_FMMU_SIZE * j);
+ ec_fmmu_config(&slave->fmmus[j], slave,
+ command->data + EC_FMMU_SIZE * j);
}
ec_master_queue_command(master, command);
diff --git a/master/master.c b/master/master.c
index 46d94fe4..a33566ff 100644
--- a/master/master.c
+++ b/master/master.c
@@ -498,7 +498,7 @@ int ec_master_simple_io(ec_master_t *master, /**< EtherCAT master */
{
unsigned int response_tries_left;
- response_tries_left = 10;
+ response_tries_left = 10000;
while (1)
{
@@ -748,11 +748,16 @@ void ec_master_freerun(void *data /**< master pointer */)
*/
void ec_sync_config(const ec_sync_t *sync, /**< sync manager */
+ const ec_slave_t *slave, /**< EtherCAT slave */
uint8_t *data /**> configuration memory */
)
{
+ size_t sync_size;
+
+ sync_size = ec_slave_calc_sync_size(slave, sync);
+
EC_WRITE_U16(data, sync->physical_start_address);
- EC_WRITE_U16(data + 2, sync->size);
+ EC_WRITE_U16(data + 2, sync_size);
EC_WRITE_U8 (data + 4, sync->control_byte);
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
EC_WRITE_U16(data + 6, 0x0001); // enable
@@ -784,11 +789,16 @@ void ec_eeprom_sync_config(const ec_eeprom_sync_t *sync, /**< sync manager */
*/
void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< FMMU */
+ const ec_slave_t *slave, /**< EtherCAT slave */
uint8_t *data /**> configuration memory */
)
{
+ size_t sync_size;
+
+ sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
+
EC_WRITE_U32(data, fmmu->logical_start_address);
- EC_WRITE_U16(data + 4, fmmu->sync->size);
+ EC_WRITE_U16(data + 4, sync_size); // size of fmmu
EC_WRITE_U8 (data + 6, 0x00); // logical start bit
EC_WRITE_U8 (data + 7, 0x07); // logical end bit
EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address);
@@ -1133,7 +1143,8 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
if (ec_command_npwr(command, slave->station_address,
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
return -1;
- ec_sync_config(sync, command->data);
+ ec_sync_config(sync, slave, command->data);
+ EC_INFO("configuring sync.\n");
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
j, slave->ring_position);
@@ -1211,7 +1222,8 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
if (ec_command_npwr(command, slave->station_address,
0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE))
return -1;
- ec_fmmu_config(fmmu, command->data);
+ ec_fmmu_config(fmmu, slave, command->data);
+ EC_INFO("configuring fmmu.\n");
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting FMMU %i failed on slave %i!\n",
j, slave->ring_position);
diff --git a/master/master.h b/master/master.h
index 543417c4..8bbb1880 100644
--- a/master/master.h
+++ b/master/master.h
@@ -151,9 +151,9 @@ int ec_master_bus_scan(ec_master_t *);
// misc.
void ec_master_clear_slaves(ec_master_t *);
-void ec_sync_config(const ec_sync_t *, uint8_t *);
+void ec_sync_config(const ec_sync_t *, const ec_slave_t *, uint8_t *);
void ec_eeprom_sync_config(const ec_eeprom_sync_t *, uint8_t *);
-void ec_fmmu_config(const ec_fmmu_t *, uint8_t *);
+void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *);
void ec_master_output_stats(ec_master_t *);
/*****************************************************************************/
diff --git a/master/slave.c b/master/slave.c
index dc96afff..06b2a748 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -166,6 +166,7 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
INIT_LIST_HEAD(&slave->eeprom_syncs);
INIT_LIST_HEAD(&slave->eeprom_pdos);
INIT_LIST_HEAD(&slave->sdo_dictionary);
+ INIT_LIST_HEAD(&slave->varsize_fields);
for (i = 0; i < 4; i++) {
slave->dl_link[i] = 0;
@@ -192,6 +193,7 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
ec_eeprom_pdo_entry_t *entry, *next_ent;
ec_sdo_t *sdo, *next_sdo;
ec_sdo_entry_t *en, *next_en;
+ ec_varsize_t *var, *next_var;
slave = container_of(kobj, ec_slave_t, kobj);
@@ -240,6 +242,12 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
kfree(sdo);
}
+ // free information about variable sized data fields
+ list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) {
+ list_del(&var->list);
+ kfree(var);
+ }
+
if (slave->eeprom_data) kfree(slave->eeprom_data);
if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
@@ -1447,6 +1455,43 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
return -EINVAL;
}
+/*****************************************************************************/
+
+/**
+ \return size of sync manager contents
+*/
+
+size_t ec_slave_calc_sync_size(const ec_slave_t *slave, /**< EtherCAT slave */
+ const ec_sync_t *sync /**< sync manager */
+ )
+{
+ unsigned int i, found;
+ const ec_field_t *field;
+ const ec_varsize_t *var;
+ size_t size;
+
+ // if size is specified, return size
+ if (sync->size) return sync->size;
+
+ // sync manager has variable size (size == 0).
+
+ size = 0;
+ for (i = 0; (field = sync->fields[i]); i++) {
+ found = 0;
+ list_for_each_entry(var, &slave->varsize_fields, list) {
+ if (var->field != field) continue;
+ size += var->size;
+ found = 1;
+ }
+
+ if (!found) {
+ EC_WARN("Variable data field \"%s\" of slave %i has no size"
+ " information!\n", field->name, slave->ring_position);
+ }
+ }
+ return size;
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
@@ -1466,9 +1511,75 @@ int ecrt_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
+/**
+ \return 0 in case of success, else < 0
+ \ingroup RealtimeInterface
+*/
+
+int ecrt_slave_field_size(ec_slave_t *slave, /**< EtherCAT slave */
+ const char *field_name, /**< data field name */
+ unsigned int field_index, /**< data field index */
+ size_t size /**< new data field size */
+ )
+{
+ unsigned int i, j, field_counter;
+ const ec_sync_t *sync;
+ const ec_field_t *field;
+ ec_varsize_t *var;
+
+ if (!slave->type) {
+ EC_ERR("Slave %i has no type information!\n", slave->ring_position);
+ return -1;
+ }
+
+ field_counter = 0;
+ for (i = 0; (sync = slave->type->sync_managers[i]); i++) {
+ for (j = 0; (field = sync->fields[j]); j++) {
+ if (!strcmp(field->name, field_name)) {
+ if (field_counter++ == field_index) {
+ // is the size of this field variable?
+ if (field->size) {
+ EC_ERR("Field \"%s\"[%i] of slave %i has no variable"
+ " size!\n", field->name, field_index,
+ slave->ring_position);
+ return -1;
+ }
+ // does a size specification already exist?
+ list_for_each_entry(var, &slave->varsize_fields, list) {
+ if (var->field == field) {
+ EC_WARN("Resizing field \"%s\"[%i] of slave %i.\n",
+ field->name, field_index,
+ slave->ring_position);
+ var->size = size;
+ return 0;
+ }
+ }
+ // create a new size specification...
+ if (!(var = kmalloc(sizeof(ec_varsize_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for varsize_t!\n");
+ return -1;
+ }
+ var->field = field;
+ var->size = size;
+ list_add_tail(&var->list, &slave->varsize_fields);
+ return 0;
+ }
+ }
+ }
+ }
+
+ EC_ERR("Slave %i (\"%s %s\") has no field \"%s\"[%i]!\n",
+ slave->ring_position, slave->type->vendor_name,
+ slave->type->product_name, field_name, field_index);
+ return -1;
+}
+
+/*****************************************************************************/
+
/**< \cond */
EXPORT_SYMBOL(ecrt_slave_write_alias);
+EXPORT_SYMBOL(ecrt_slave_field_size);
/**< \endcond */
diff --git a/master/slave.h b/master/slave.h
index 576910e7..e6ef8431 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -213,6 +213,20 @@ ec_sdo_entry_t;
/*****************************************************************************/
+/**
+ Variable-sized field information.
+*/
+
+typedef struct
+{
+ struct list_head list; /**< list item */
+ const ec_field_t *field; /**< data field */
+ size_t size; /**< field size */
+}
+ec_varsize_t;
+
+/*****************************************************************************/
+
/**
EtherCAT slave.
*/
@@ -282,6 +296,9 @@ struct ec_slave
ec_slave_state_t current_state; /**< current slave state */
unsigned int state_error; /**< a state error has happened */
unsigned int online; /**< non-zero, if the slave responds. */
+
+ struct list_head varsize_fields; /**< size information for variable-sized
+ data fields. */
};
/*****************************************************************************/
@@ -310,6 +327,7 @@ int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
// misc.
+size_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);
diff --git a/master/types.c b/master/types.c
index 255cb51d..6e6271a5 100644
--- a/master/types.c
+++ b/master/types.c
@@ -67,9 +67,24 @@ const ec_slave_type_t Beckhoff_EK1110 = {
/*****************************************************************************/
+const ec_field_t bk1120_in = {"Inputs", 0}; // variable size
+
+const ec_sync_t bk1120_sm0 = {0x1C00, 264, 0x26, {NULL}};
+const ec_sync_t bk1120_sm1 = {0x1E00, 264, 0x22, {NULL}};
+
+const ec_sync_t bk1120_sm2 = { // outputs
+ 0x1000, 0, 0x24, // variable size
+ {NULL}
+};
+
+const ec_sync_t bk1120_sm3 = { // inputs
+ 0x1600, 0, 0x00, // variable size
+ {&bk1120_in, NULL}
+};
+
const ec_slave_type_t Beckhoff_BK1120 = {
"Beckhoff", "BK1120", "KBUS Coupler", EC_TYPE_NORMAL,
- {NULL} // no sync managers
+ {&bk1120_sm0, &bk1120_sm1, &bk1120_sm2, &bk1120_sm3, NULL}
};
/*****************************************************************************/
@@ -186,8 +201,7 @@ const ec_sync_t el5101_sm3 = {
{&el5101_st, &el5101_ip, &el5101_la, NULL}
};
-const ec_slave_type_t Beckhoff_EL5101 =
-{
+const ec_slave_type_t Beckhoff_EL5101 = {
"Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL}
};
@@ -233,7 +247,7 @@ ec_slave_ident_t slave_idents[] = {
{0x00000002, 0x03F63052, &Beckhoff_EL1014},
{0x00000002, 0x044C2C52, &Beckhoff_EK1100},
{0x00000002, 0x04562C52, &Beckhoff_EK1110},
- //{0x00000002, 0x04602C22, &Beckhoff_BK1120},
+ {0x00000002, 0x04602C22, &Beckhoff_BK1120},
{0x00000002, 0x07D43052, &Beckhoff_EL2004},
{0x00000002, 0x07F03052, &Beckhoff_EL2032},
{0x00000002, 0x0C1E3052, &Beckhoff_EL3102},
--
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