diff --git a/master/fsm.c b/master/fsm.c
index cd104d3ed1cdfd424cd43c23790f13fcaaf92dd0..45c9562a55196d90db96781cff1768c825a35a87 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -1163,7 +1163,7 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
EC_ERR("Invalid sync manager configuration found!");
return;
}
- ec_eeprom_sync_config(eeprom_sync,
+ ec_eeprom_sync_config(eeprom_sync, slave,
datagram->data + EC_SYNC_SIZE
* eeprom_sync->index);
}
@@ -1176,14 +1176,14 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 1;
- ec_eeprom_sync_config(&mbox_sync, datagram->data);
+ ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
mbox_sync.physical_start_address =
slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 1;
- ec_eeprom_sync_config(&mbox_sync,
+ ec_eeprom_sync_config(&mbox_sync, slave,
datagram->data + EC_SYNC_SIZE);
}
diff --git a/master/master.c b/master/master.c
index dfa399dc87d03fea70137b9f801e32d603ff6765..67d840819ae0b8d404a6704796849b5225478ce0 100644
--- a/master/master.c
+++ b/master/master.c
@@ -772,11 +772,16 @@ void ec_sync_config(const ec_sync_t *sync, /**< sync manager */
*/
void ec_eeprom_sync_config(const ec_eeprom_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_eeprom_sync_size(slave, sync);
+
EC_WRITE_U16(data, sync->physical_start_address);
- EC_WRITE_U16(data + 2, sync->length);
+ EC_WRITE_U16(data + 2, sync_size);
EC_WRITE_U8 (data + 4, sync->control_register);
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
@@ -1130,7 +1135,8 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
if (ec_datagram_npwr(datagram, slave->station_address, 0x0800,
EC_SYNC_SIZE * slave->base_sync_count))
return -1;
- memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+ memset(datagram->data, 0x00,
+ EC_SYNC_SIZE * slave->base_sync_count);
if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Resetting sync managers failed on slave %i!\n",
slave->ring_position);
@@ -1139,11 +1145,27 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
}
// configure sync managers
- if (type) { // known slave type, take type's SM information
+
+ // does the slave provide sync manager information?
+ if (!list_empty(&slave->eeprom_syncs)) {
+ list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
+ if (ec_datagram_npwr(datagram, slave->station_address,
+ 0x800 + eeprom_sync->index *
+ EC_SYNC_SIZE,
+ EC_SYNC_SIZE)) return -1;
+ ec_eeprom_sync_config(eeprom_sync, slave, datagram->data);
+ if (unlikely(ec_master_simple_io(master, datagram))) {
+ EC_ERR("Setting sync manager %i failed on slave %i!\n",
+ eeprom_sync->index, slave->ring_position);
+ return -1;
+ }
+ }
+ }
+ else if (type) { // known slave type, take type's SM information
for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
sync = type->sync_managers[j];
if (ec_datagram_npwr(datagram, slave->station_address,
- 0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
+ 0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
return -1;
ec_sync_config(sync, slave, datagram->data);
if (unlikely(ec_master_simple_io(master, datagram))) {
@@ -1153,54 +1175,34 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
}
}
}
- else if (slave->sii_mailbox_protocols) { // unknown type, but mailbox
- // does the device supply SM configurations in its EEPROM?
- if (!list_empty(&slave->eeprom_syncs)) {
- list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
- EC_INFO("Sync manager %i...\n", eeprom_sync->index);
- if (ec_datagram_npwr(datagram, slave->station_address,
- 0x800 + eeprom_sync->index *
- EC_SYNC_SIZE,
- EC_SYNC_SIZE)) return -1;
- ec_eeprom_sync_config(eeprom_sync, datagram->data);
- if (unlikely(ec_master_simple_io(master, datagram))) {
- EC_ERR("Setting sync manager %i failed on slave %i!\n",
- eeprom_sync->index, slave->ring_position);
- return -1;
- }
- }
+ else { // no sync manager information; guess mailbox settings
+ mbox_sync.physical_start_address =
+ slave->sii_rx_mailbox_offset;
+ mbox_sync.length = slave->sii_rx_mailbox_size;
+ mbox_sync.control_register = 0x26;
+ mbox_sync.enable = 1;
+ if (ec_datagram_npwr(datagram, slave->station_address,
+ 0x800,EC_SYNC_SIZE)) return -1;
+ ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
+ if (unlikely(ec_master_simple_io(master, datagram))) {
+ EC_ERR("Setting sync manager 0 failed on slave %i!\n",
+ slave->ring_position);
+ return -1;
}
- else { // no sync manager information; guess mailbox settings
- mbox_sync.physical_start_address =
- slave->sii_rx_mailbox_offset;
- mbox_sync.length = slave->sii_rx_mailbox_size;
- mbox_sync.control_register = 0x26;
- mbox_sync.enable = 1;
- if (ec_datagram_npwr(datagram, slave->station_address,
- 0x800,EC_SYNC_SIZE)) return -1;
- ec_eeprom_sync_config(&mbox_sync, datagram->data);
- if (unlikely(ec_master_simple_io(master, datagram))) {
- EC_ERR("Setting sync manager 0 failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- mbox_sync.physical_start_address =
- slave->sii_tx_mailbox_offset;
- mbox_sync.length = slave->sii_tx_mailbox_size;
- mbox_sync.control_register = 0x22;
- mbox_sync.enable = 1;
- if (ec_datagram_npwr(datagram, slave->station_address,
- 0x808, EC_SYNC_SIZE)) return -1;
- ec_eeprom_sync_config(&mbox_sync, datagram->data);
- if (unlikely(ec_master_simple_io(master, datagram))) {
+
+ mbox_sync.physical_start_address =
+ slave->sii_tx_mailbox_offset;
+ mbox_sync.length = slave->sii_tx_mailbox_size;
+ mbox_sync.control_register = 0x22;
+ mbox_sync.enable = 1;
+ if (ec_datagram_npwr(datagram, slave->station_address,
+ 0x808, EC_SYNC_SIZE)) return -1;
+ ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
+ if (unlikely(ec_master_simple_io(master, datagram))) {
EC_ERR("Setting sync manager 1 failed on slave %i!\n",
slave->ring_position);
return -1;
- }
- }
- EC_INFO("Mailbox configured for unknown slave %i\n",
- slave->ring_position);
+ }
}
// change state to PREOP
diff --git a/master/master.h b/master/master.h
index 73f6b1c1b46ef0428be6dbbb22e1535e9fced83d..1be89918aacac2602b5f36aadd13bc188d761a4d 100644
--- a/master/master.h
+++ b/master/master.h
@@ -152,7 +152,8 @@ 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 *, const ec_slave_t *, uint8_t *);
-void ec_eeprom_sync_config(const ec_eeprom_sync_t *, uint8_t *);
+void ec_eeprom_sync_config(const ec_eeprom_sync_t *, const ec_slave_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 32e5903e3e8615549bfa592100dda6b95d6807e1..5e8f627798e87112b9f1f93afa30cdf34f782714 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -1494,6 +1494,37 @@ size_t ec_slave_calc_sync_size(const ec_slave_t *slave, /**< EtherCAT slave */
return size;
}
+/*****************************************************************************/
+
+/**
+ Calculates the size of a sync manager by evaluating PDO sizes.
+ \return sync manager size
+*/
+
+uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *slave,
+ /**< EtherCAT slave */
+ const ec_eeprom_sync_t *sync
+ /**< sync manager */
+ )
+{
+ ec_eeprom_pdo_t *pdo;
+ ec_eeprom_pdo_entry_t *pdo_entry;
+ uint16_t size;
+
+ if (sync->length) return sync->length;
+
+ size = 0;
+ list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
+ if (pdo->sync_manager != sync->index) continue;
+
+ list_for_each_entry(pdo_entry, &pdo->entries, list) {
+ size += pdo_entry->bit_length / 8;
+ }
+ }
+
+ return size;
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
diff --git a/master/slave.h b/master/slave.h
index e2fa8c7e5e7db06982703a7f5cba8bcb00d5d913..96510455739f1feabd9183d0d42f27a8ab39c96d 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -326,6 +326,9 @@ 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 *);
+uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *,
+ const ec_eeprom_sync_t *);
+
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);