From 6f4eae0faafa0ab847d8f3cf492a6a489178018d Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Wed, 7 Mar 2007 13:06:40 +0000
Subject: [PATCH] Layed out sync manager structures and methods into own files.
---
master/Kbuild | 2 +-
master/Makefile.am | 1 +
master/domain.c | 1 -
master/fsm_slave.c | 16 ++++---
master/slave.c | 43 +++++++++++--------
master/slave.h | 22 +---------
master/sync.c | 105 +++++++++++++++++++++++++++++++++++++++++++++
master/sync.h | 79 ++++++++++++++++++++++++++++++++++
8 files changed, 221 insertions(+), 48 deletions(-)
create mode 100644 master/sync.c
create mode 100644 master/sync.h
diff --git a/master/Kbuild b/master/Kbuild
index 1daabc87..0799df43 100644
--- a/master/Kbuild
+++ b/master/Kbuild
@@ -35,7 +35,7 @@ include $(src)/../config.kbuild
obj-m := ec_master.o
-ec_master-objs := module.o master.o device.o device_id.o pdo.o slave.o \
+ec_master-objs := module.o master.o device.o device_id.o pdo.o sync.o slave.o \
datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o \
fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
diff --git a/master/Makefile.am b/master/Makefile.am
index 83d36447..565afad0 100644
--- a/master/Makefile.am
+++ b/master/Makefile.am
@@ -39,6 +39,7 @@ EXTRA_DIST = \
device.c device.h \
device_id.c device_id.h \
pdo.c pdo.h \
+ sync.c sync.h \
domain.c domain.h \
doxygen.c \
ethernet.c ethernet.h \
diff --git a/master/domain.c b/master/domain.c
index f6c4c09a..4c5ec4cb 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -207,7 +207,6 @@ int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
pdo->index, entry->subindex);
return -1;
}
-
sync = &slave->sii_syncs[pdo->sync_index];
// Calculate offset (in sync manager) for process data pointer
diff --git a/master/fsm_slave.c b/master/fsm_slave.c
index c18ec80d..cbecca8b 100644
--- a/master/fsm_slave.c
+++ b/master/fsm_slave.c
@@ -657,9 +657,11 @@ void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
/*****************************************************************************/
/**
-*/
+ */
-void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
+void ec_fsm_slave_conf_enter_mbox_sync(
+ ec_fsm_slave_t *fsm /**< slave state machine */
+ )
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
@@ -693,7 +695,7 @@ void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *fsm /**< slave state mach
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
for (i = 0; i < 2; i++) {
- ec_slave_sync_config(slave, &slave->sii_syncs[i],
+ ec_sync_config(&slave->sii_syncs[i],
datagram->data + EC_SYNC_SIZE * i);
}
@@ -790,9 +792,11 @@ void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine
/*****************************************************************************/
/**
-*/
+ */
-void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
+void ec_fsm_slave_conf_enter_pdo_sync(
+ ec_fsm_slave_t *fsm /**< slave state machine */
+ )
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
@@ -809,7 +813,7 @@ void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machi
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
for (i = 0; i < slave->sii_sync_count; i++) {
- ec_slave_sync_config(slave, &slave->sii_syncs[i],
+ ec_sync_config(&slave->sii_syncs[i],
datagram->data + EC_SYNC_SIZE * i);
}
diff --git a/master/slave.c b/master/slave.c
index 00b34938..c1d26e36 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -255,7 +255,13 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
}
// free all sync managers
- if (slave->sii_syncs) kfree(slave->sii_syncs);
+ if (slave->sii_syncs) {
+ for (i = 0; i < slave->sii_sync_count; i++) {
+ ec_sync_clear(&slave->sii_syncs[i]);
+ kfree(&slave->sii_syncs[i]);
+ }
+ kfree(slave->sii_syncs);
+ }
// free all PDOs
list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
@@ -480,22 +486,22 @@ int ec_slave_fetch_sii_syncs(
// sync manager struct is 4 words long
slave->sii_sync_count = word_count / 4;
- if (!(slave->sii_syncs = kmalloc(sizeof(ec_sync_t) *
- slave->sii_sync_count, GFP_ATOMIC))) {
- EC_ERR("Failed to allocate Sync-Manager memory.\n");
+ if (!(slave->sii_syncs =
+ kmalloc(sizeof(ec_sync_t) * slave->sii_sync_count,
+ GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for sync managers.\n");
+ slave->sii_sync_count = 0;
return -1;
}
for (i = 0; i < slave->sii_sync_count; i++, data += 8) {
sync = &slave->sii_syncs[i];
- sync->index = i;
+ ec_sync_init(sync, slave, i);
sync->physical_start_address = EC_READ_U16(data);
- sync->length = EC_READ_U16(data + 2);
- sync->control_register = EC_READ_U8 (data + 4);
- sync->enable = EC_READ_U8 (data + 6);
-
- sync->est_length = 0;
+ sync->length = EC_READ_U16(data + 2);
+ sync->control_register = EC_READ_U8 (data + 4);
+ sync->enable = EC_READ_U8 (data + 6);
}
return 0;
@@ -761,7 +767,7 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
for (i = 0; i < slave->sii_sync_count; i++) {
sync = &slave->sii_syncs[i];
- off += sprintf(buffer + off, " %i: 0x%04X, length %i,"
+ off += sprintf(buffer + off, " %u) 0x%04X, length %i,"
" control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
sync->length, sync->control_register,
@@ -1051,15 +1057,14 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
/*****************************************************************************/
/**
- Calculates the size of a sync manager by evaluating PDO sizes.
- \return sync manager size
-*/
+ * Calculates the size of a sync manager by evaluating PDO sizes.
+ * \return sync manager size
+ */
-uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
- /**< EtherCAT slave */
- const ec_sync_t *sync
- /**< sync manager */
- )
+uint16_t ec_slave_calc_sync_size(
+ const ec_slave_t *slave, /**< EtherCAT slave */
+ const ec_sync_t *sync /**< sync manager */
+ )
{
const ec_pdo_t *pdo;
const ec_pdo_entry_t *pdo_entry;
diff --git a/master/slave.h b/master/slave.h
index bd95314c..03652098 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -49,6 +49,7 @@
#include "globals.h"
#include "datagram.h"
#include "pdo.h"
+#include "sync.h"
/*****************************************************************************/
@@ -102,26 +103,6 @@ enum
/*****************************************************************************/
-/**
- Sync manager.
-*/
-
-typedef struct
-{
- unsigned int index; /**< sync manager index */
- uint16_t physical_start_address; /**< physical start address */
- uint16_t length; /**< data length in bytes */
- uint8_t control_register; /**< control register value */
- uint8_t enable; /**< enable bit */
-
- uint16_t est_length; /**< Estimated length. This is no field of the SII,
- but it is used to calculate the length via
- PDO ranges */
-}
-ec_sync_t;
-
-/*****************************************************************************/
-
/**
FMMU configuration.
*/
@@ -232,7 +213,6 @@ int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
// misc.
ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
-void ec_slave_sync_config(const ec_slave_t *, const ec_sync_t *, uint8_t *);
void ec_slave_fmmu_config(const ec_slave_t *, const ec_fmmu_t *, uint8_t *);
uint16_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
diff --git a/master/sync.c b/master/sync.c
new file mode 100644
index 00000000..e6583f03
--- /dev/null
+++ b/master/sync.c
@@ -0,0 +1,105 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT sync manager methods.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "slave.h"
+#include "master.h"
+#include "sync.h"
+
+/*****************************************************************************/
+
+/**
+ * Constructor.
+ */
+
+void ec_sync_init(
+ ec_sync_t *sync, /**< EtherCAT sync manager */
+ const ec_slave_t *slave, /**< EtherCAT slave */
+ unsigned int index /**< sync manager index */
+ )
+{
+ sync->slave = slave;
+ sync->index = index;
+
+ sync->est_length = 0;
+}
+
+/*****************************************************************************/
+
+/**
+ * Destructor.
+ */
+
+void ec_sync_clear(
+ ec_sync_t *sync /**< EtherCAT sync manager */
+ )
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes a sync manager configuration page with EEPROM data.
+ The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
+*/
+
+void ec_sync_config(
+ const ec_sync_t *sync, /**< sync manager */
+ uint8_t *data /**> configuration memory */
+ )
+{
+ size_t sync_size;
+
+ sync_size = ec_slave_calc_sync_size(sync->slave, sync);
+
+ if (sync->slave->master->debug_level) {
+ EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
+ sync->index, sync->physical_start_address,
+ sync_size, sync->control_register, sync->enable);
+ }
+
+ EC_WRITE_U16(data, sync->physical_start_address);
+ 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
+}
+
+/*****************************************************************************/
diff --git a/master/sync.h b/master/sync.h
new file mode 100644
index 00000000..88586774
--- /dev/null
+++ b/master/sync.h
@@ -0,0 +1,79 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT sync manager.
+*/
+
+/*****************************************************************************/
+
+#ifndef _EC_SYNC_H_
+#define _EC_SYNC_H_
+
+#include <linux/list.h>
+
+#include "../include/ecrt.h"
+#include "globals.h"
+
+/*****************************************************************************/
+
+/**
+ * Sync manager.
+ */
+
+typedef struct
+{
+ const ec_slave_t *slave; /**< slave, the sync manager belongs to */
+ unsigned int index; /**< sync manager index */
+ uint16_t physical_start_address; /**< physical start address */
+ uint16_t length; /**< data length in bytes */
+ uint8_t control_register; /**< control register value */
+ uint8_t enable; /**< enable bit */
+
+ uint16_t est_length; /**< Estimated length. This is no field of the SII,
+ but it is used to calculate the length via
+ PDO ranges */
+}
+ec_sync_t;
+
+/*****************************************************************************/
+
+void ec_sync_init(ec_sync_t *, const ec_slave_t *, unsigned int);
+void ec_sync_clear(ec_sync_t *);
+
+void ec_sync_config(const ec_sync_t *, uint8_t *);
+
+/*****************************************************************************/
+
+#endif
--
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