diff --git a/NEWS b/NEWS
index 4248666919e4713f0cb1fd7674dff9a886634f92..906005fbab475bdd6b9623d0cd25381e3b72fd45 100644
--- a/NEWS
+++ b/NEWS
@@ -11,6 +11,7 @@ Changes since 1.4.0:
* Added a userspace library for accessing the application interface. This
library is licensed under LGPLv2.
* Added distributed clocks support.
+* Added watchdog configuration via application interface (thanks to J. Mohre).
* Added VoE mailbox protocol support.
* Improved the callback mechanism. ecrt_master_callbacks() now takes two
callback functions for sending and receiving datagrams.
diff --git a/TODO b/TODO
index 60fad664883d31675486fe61417b901957a859d8..3b43cd5e08f7ab01f934142a426eb7a75c63f704 100644
--- a/TODO
+++ b/TODO
@@ -43,7 +43,6 @@ Version 1.5.0:
* Check for ioctl() interface version.
* Improve application-triggered SDO transfers by moving the state machine into
the SDO handlers.
-* Apply watchdog patches from J. Mohre.
* Move device driver files in subdirectories.
* Document ec_fsm_foe members.
* Test KBUILD_EXTRA_SYMBOLS.
diff --git a/include/ecrt.h b/include/ecrt.h
index f8921ba390294b581c2ad33cc88e7e2f2db3e460..5238aee44063ec7e5ace5496da7400524419dc2a 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -50,6 +50,9 @@
* callback functions for sending and receiving datagrams.
* ecrt_master_send_ext() is used to execute the sending of non-application
* datagrams.
+ * - Added watchdog configuration (method ecrt_slave_config_watchdog(),
+ * #ec_watchdog_mode_t, \a watchdog_mode parameter in ec_sync_info_t and
+ * ecrt_slave_config_sync_manager()).
* - Added ecrt_open_master() and ecrt_master_reserve() separation for
* userspace.
* - Added ecrt_master() userspace interface, to get information about a
@@ -61,7 +64,7 @@
* ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
* - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
* ecrt_slave_config_create_voe_handler().
- * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
+ * - Renamed ec_sdo_request_state_t to #ec_request_state_t, because it is also
* used by VoE handlers.
* - Removed 'const' from argument of ecrt_sdo_request_state(), because the
* userspace library has to modify object internals.
@@ -275,6 +278,18 @@ typedef enum {
/*****************************************************************************/
+/** Watchdog mode for sync manager configuration.
+ *
+ * Used to specify, if a sync manager's watchdog is to be enabled.
+ */
+typedef enum {
+ EC_WD_DEFAULT, /**< Use the default setting of the sync manager. */
+ EC_WD_ENABLE, /**< Enable the watchdog. */
+ EC_WD_DISABLE, /**< Disable the watchdog. */
+} ec_watchdog_mode_t;
+
+/*****************************************************************************/
+
/** PDO entry configuration information.
*
* This is the data type of the \a entries field in ec_pdo_info_t.
@@ -322,6 +337,7 @@ typedef struct {
unsigned int n_pdos; /**< Number of PDOs in \a pdos. */
ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain
at least \a n_pdos PDOs. */
+ ec_watchdog_mode_t watchdog_mode; /**< Watchdog mode. */
} ec_sync_info_t;
/*****************************************************************************/
@@ -709,7 +725,18 @@ int ecrt_slave_config_sync_manager(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
- ec_direction_t dir /**< Input/Output. */
+ ec_direction_t direction, /**< Input/Output. */
+ ec_watchdog_mode_t watchdog_mode /** Watchdog mode. */
+ );
+
+/** Configure a slave's watchdog times.
+*/
+void ecrt_slave_config_watchdog(
+ ec_slave_config_t *sc, /**< Slave configuration. */
+ uint16_t watchdog_divider, /**< Number of 40 ns intervals. Used as a
+ base unit for all slave watchdogs. */
+ uint16_t watchdog_intervals /**< Number of base intervals for process
+ data watchdog. */
);
/** Add a PDO to a sync manager's PDO assignment.
diff --git a/lib/slave_config.c b/lib/slave_config.c
index 8f1f11ec0023bcb29e344884662ae83a4881d55f..0b62b8cf7b386f816b34eb09398709c8e5e083a5 100644
--- a/lib/slave_config.c
+++ b/lib/slave_config.c
@@ -44,7 +44,7 @@
/*****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
- ec_direction_t dir)
+ ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
{
ec_ioctl_config_t data;
unsigned int i;
@@ -55,6 +55,8 @@ int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
memset(&data, 0x00, sizeof(ec_ioctl_config_t));
data.config_index = sc->index;
data.syncs[sync_index].dir = dir;
+ data.syncs[sync_index].watchdog_mode = watchdog_mode;
+ data.syncs[sync_index].config_this = 1;
if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
fprintf(stderr, "Failed to config sync manager: %s\n",
@@ -67,6 +69,24 @@ int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
/*****************************************************************************/
+void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
+ uint16_t divider, uint16_t intervals)
+{
+ ec_ioctl_config_t data;
+
+ memset(&data, 0x00, sizeof(ec_ioctl_config_t));
+ data.config_index = sc->index;
+ data.watchdog_divider = divider;
+ data.watchdog_intervals = intervals;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data) == -1) {
+ fprintf(stderr, "Failed to config watchdog: %s\n",
+ strerror(errno));
+ }
+}
+
+/*****************************************************************************/
+
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
uint8_t sync_index, uint16_t pdo_index)
{
@@ -166,8 +186,8 @@ int ecrt_slave_config_pdos(ec_slave_config_t *sc,
return -ENOENT;
}
- ret = ecrt_slave_config_sync_manager(
- sc, sync_info->index, sync_info->dir);
+ ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
+ sync_info->dir, sync_info->watchdog_mode);
if (ret)
return ret;
diff --git a/master/cdev.c b/master/cdev.c
index 399429f3dc43b84816a87d3ccdd8769d20c23b3d..57e7bf33078157b267e6ce6749a95c53a8b8200e 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -1759,7 +1759,7 @@ int ec_cdev_ioctl_sync_slaves(
/*****************************************************************************/
-/** Set the direction of a sync manager.
+/** Configure a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
ec_master_t *master, /**< EtherCAT master. */
@@ -1793,9 +1793,9 @@ int ec_cdev_ioctl_sc_sync(
}
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
- ec_direction_t dir = data.syncs[i].dir;
- if (dir == EC_DIR_INPUT || dir == EC_DIR_OUTPUT) {
- if (ecrt_slave_config_sync_manager(sc, i, dir)) {
+ if (data.syncs[i].config_this) {
+ if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
+ data.syncs[i].watchdog_mode)) {
ret = -EINVAL;
goto out_up;
}
@@ -1810,6 +1810,49 @@ out_return:
/*****************************************************************************/
+/** Configure a slave's watchdogs.
+ */
+int ec_cdev_ioctl_sc_watchdog(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_config_t data;
+ ec_slave_config_t *sc;
+ int ret = 0;
+
+ if (unlikely(!priv->requested)) {
+ ret = -EPERM;
+ goto out_return;
+ }
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ ret = -EFAULT;
+ goto out_return;
+ }
+
+ if (down_interruptible(&master->master_sem)) {
+ ret = -EINTR;
+ goto out_return;
+ }
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ ret = -ENOENT;
+ goto out_up;
+ }
+
+ ecrt_slave_config_watchdog(sc,
+ data.watchdog_divider, data.watchdog_intervals);
+
+out_up:
+ up(&master->master_sem);
+out_return:
+ return ret;
+}
+
+/*****************************************************************************/
+
/** Add a PDO to the assignment.
*/
int ec_cdev_ioctl_sc_add_pdo(
@@ -3229,6 +3272,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_sync(master, arg, priv);
+ case EC_IOCTL_SC_WATCHDOG:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_watchdog(master, arg, priv);
case EC_IOCTL_SC_ADD_PDO:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
diff --git a/master/fsm_slave_config.c b/master/fsm_slave_config.c
index 4f1b4ebf45cd2d0c5db4be291bddfca3c3f80ee9..74bb493741d34a8f6bf7d366439b6c4145e72c8a 100644
--- a/master/fsm_slave_config.c
+++ b/master/fsm_slave_config.c
@@ -54,6 +54,8 @@ void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
@@ -70,6 +72,8 @@ void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
@@ -558,7 +562,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
for (i = 0; i < 2; i++) {
ec_sync_page(&slave->sii.syncs[i], i,
slave->sii.syncs[i].default_length,
- EC_DIR_INVALID, // use default direction
+ NULL, // use default sync manager configuration
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
@@ -587,7 +591,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
sync.control_register = 0x26;
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
- EC_DIR_INVALID, // use default direction
+ NULL, // use default sync manager configuration
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.std_rx_mailbox_offset;
@@ -599,7 +603,7 @@ void ec_fsm_slave_config_enter_mbox_sync(
sync.control_register = 0x22;
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
- EC_DIR_INVALID, // use default direction
+ NULL, // use default sync manager configuration
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.std_tx_mailbox_offset;
@@ -844,6 +848,125 @@ void ec_fsm_slave_config_state_pdo_conf(
fsm->slave->ring_position);
}
+ ec_fsm_slave_config_enter_watchdog_divider(fsm);
+}
+
+/*****************************************************************************/
+
+/** WATCHDOG_DIVIDER entry function.
+ */
+void ec_fsm_slave_config_enter_watchdog_divider(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_master_t *master = slave->master;
+ ec_slave_config_t *config = slave->config;
+
+ if (config && config->watchdog_divider) {
+ if (master->debug_level)
+ EC_DBG("Setting watchdog divider to %u.\n",
+ config->watchdog_divider);
+
+ ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
+ EC_WRITE_U16(datagram->data, config->watchdog_divider);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_watchdog_divider;
+ } else {
+ ec_fsm_slave_config_enter_watchdog(fsm);
+ }
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: WATCHDOG_DIVIDER.
+ */
+void ec_fsm_slave_config_state_watchdog_divider(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive watchdog divider configuration datagram for"
+ " slave %u (datagram state %u).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ EC_WARN("Failed to set watchdog divider of slave %u: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_watchdog(fsm);
+}
+
+/*****************************************************************************/
+
+/** WATCHDOG entry function
+ */
+void ec_fsm_slave_config_enter_watchdog(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_slave_config_t *config = slave->config;
+
+ if (config && config->watchdog_intervals) {
+ if (slave->master->debug_level)
+ EC_DBG("Setting process data watchdog intervals to %u.\n",
+ config->watchdog_intervals);
+
+ ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
+ EC_WRITE_U16(datagram->data, config->watchdog_intervals);
+
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_watchdog;
+ }
+
+ ec_fsm_slave_config_enter_pdo_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: WATCHDOG.
+ */
+
+void ec_fsm_slave_config_state_watchdog(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive sync manager watchdog configuration "
+ "datagram for slave %u (datagram state %u).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ EC_WARN("Failed to set process data watchdog intervals of slave %u: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ }
+
ec_fsm_slave_config_enter_pdo_sync(fsm);
}
@@ -861,7 +984,6 @@ void ec_fsm_slave_config_enter_pdo_sync(
uint8_t sync_index;
const ec_sync_t *sync;
uint16_t size;
- ec_direction_t dir;
if (slave->sii.mailbox_protocols) {
offset = 2; // slave has mailboxes
@@ -884,21 +1006,20 @@ void ec_fsm_slave_config_enter_pdo_sync(
ec_datagram_zero(datagram);
for (i = 0; i < num_pdo_syncs; i++) {
+ const ec_sync_config_t *sync_config;
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
if (slave->config) {
- const ec_sync_config_t *sync_config;
sync_config = &slave->config->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
- dir = sync_config->dir;
} else {
+ sync_config = NULL;
size = sync->default_length;
- dir = EC_DIR_INVALID;
}
- ec_sync_page(sync, sync_index, size, dir, datagram->data +
- EC_SYNC_PAGE_SIZE * i);
+ ec_sync_page(sync, sync_index, size, sync_config,
+ datagram->data + EC_SYNC_PAGE_SIZE * i);
}
fsm->retries = EC_FSM_RETRIES;
diff --git a/master/ioctl.h b/master/ioctl.h
index 50e7a511b5b78e32c3ca577021d44c595f3c355b..0661d63d5fd563709c8815d8686e56ed9f865de9 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -91,32 +91,33 @@
#define EC_IOCTL_SYNC_REF EC_IO(0x21)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x22)
#define EC_IOCTL_SC_SYNC EC_IOW(0x23, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x24, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x25, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x26, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x27, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x28, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC EC_IOW(0x29, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO EC_IOW(0x2a, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2b, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE EC_IOWR(0x2c, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE EC_IOWR(0x2d, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2e)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2f)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x30)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x31, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x32, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x33, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x34, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x35, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x36, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x37, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x38, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x39, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3a, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3b, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3c, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x3d, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x24, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x25, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x26, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x27, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x28, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x29, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC EC_IOW(0x2a, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x2b, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2c, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE EC_IOWR(0x2d, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x2e, ec_ioctl_sc_state_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2f)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x20)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x31)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x32, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x33, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x34, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x35, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x36, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x37, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x38, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x39, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x3a, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3b, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3c, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3d, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x3e, ec_ioctl_voe_t)
/*****************************************************************************/
@@ -389,8 +390,12 @@ typedef struct {
uint32_t product_code;
struct {
ec_direction_t dir;
+ ec_watchdog_mode_t watchdog_mode;
uint32_t pdo_count;
+ uint8_t config_this;
} syncs[EC_MAX_SYNC_MANAGERS];
+ uint16_t watchdog_divider;
+ uint16_t watchdog_intervals;
uint32_t sdo_count;
int32_t slave_position;
uint16_t dc_assign_activate;
diff --git a/master/slave_config.c b/master/slave_config.c
index a1f33ce2a4d3503f7e37af3cc7941e2dae208cc3..874ed8bce879fb946f795c5e5538b309233f6ae9 100644
--- a/master/slave_config.c
+++ b/master/slave_config.c
@@ -66,6 +66,8 @@ void ec_slave_config_init(
sc->position = position;
sc->vendor_id = vendor_id;
sc->product_code = product_code;
+ sc->watchdog_divider = 0; // use default
+ sc->watchdog_intervals = 0; // use default
sc->slave = NULL;
@@ -411,13 +413,14 @@ ec_voe_handler_t *ec_slave_config_find_voe_handler(
*****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
- ec_direction_t dir)
+ ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
{
ec_sync_config_t *sync_config;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "
- "dir = %u)\n", (u32) sc, sync_index, dir);
+ "dir = %i, watchdog_mode = %i)\n",
+ (u32) sc, sync_index, dir, watchdog_mode);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_ERR("Invalid sync manager index %u!\n", sync_index);
@@ -431,11 +434,25 @@ int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
sync_config = &sc->sync_configs[sync_index];
sync_config->dir = dir;
+ sync_config->watchdog_mode = watchdog_mode;
return 0;
}
/*****************************************************************************/
+void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
+ uint16_t divider, uint16_t intervals)
+{
+ if (sc->master->debug_level)
+ EC_DBG("%s(sc = 0x%x, divider = %u, intervals = %u)\n",
+ __func__, (u32) sc, divider, intervals);
+
+ sc->watchdog_divider = divider;
+ sc->watchdog_intervals = intervals;
+}
+
+/*****************************************************************************/
+
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
uint8_t sync_index, uint16_t pdo_index)
{
@@ -579,8 +596,8 @@ int ecrt_slave_config_pdos(ec_slave_config_t *sc,
return -ENOENT;
}
- ret = ecrt_slave_config_sync_manager(
- sc, sync_info->index, sync_info->dir);
+ ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
+ sync_info->dir, sync_info->watchdog_mode);
if (ret)
return ret;
@@ -894,6 +911,7 @@ void ecrt_slave_config_state(const ec_slave_config_t *sc,
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
+EXPORT_SYMBOL(ecrt_slave_config_watchdog);
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);
diff --git a/master/slave_config.h b/master/slave_config.h
index 297633f048f3f57a1d8ab7da0e7ddd7d016cac58..4954a8f1f59836390473b42fc3fe8f6ce55449db 100644
--- a/master/slave_config.h
+++ b/master/slave_config.h
@@ -58,6 +58,11 @@ struct ec_slave_config {
uint32_t vendor_id; /**< Slave vendor ID. */
uint32_t product_code; /**< Slave product code. */
+ uint16_t watchdog_divider; /**< Watchdog divider as a number of 40ns
+ intervals (see spec. reg. 0x0400). */
+ uint16_t watchdog_intervals; /**< Process data watchdog intervals (see
+ spec. reg. 0x0420). */
+
ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
offline. */
diff --git a/master/sync.c b/master/sync.c
index 0a6cbe97c5398e103fd82df3094a2027875f2775..0a3f27057757de68f4d06a82e8ba59806a36646d 100644
--- a/master/sync.c
+++ b/master/sync.c
@@ -95,8 +95,7 @@ void ec_sync_page(
const ec_sync_t *sync, /**< Sync manager. */
uint8_t sync_index, /**< Index of the sync manager. */
uint16_t data_size, /**< Data size. */
- ec_direction_t dir, /**< Direction (overrides the control byte,
- if set to EC_DIR_INPUT or EC_DIR_OUTPUT). */
+ const ec_sync_config_t *sync_config, /**< Configuration. */
uint8_t *data /**> Configuration memory. */
)
{
@@ -104,10 +103,28 @@ void ec_sync_page(
uint16_t enable = sync->enable && data_size;
uint8_t control = sync->control_register;
- if (dir == EC_DIR_OUTPUT || dir == EC_DIR_INPUT) {
- // override sync manager direction bits with dir parameter
- EC_WRITE_BIT(&control, 2, dir == EC_DIR_OUTPUT ? 1 : 0);
- EC_WRITE_BIT(&control, 3, 0);
+ if (sync_config) {
+
+ switch (sync_config->dir) {
+ case EC_DIR_OUTPUT:
+ case EC_DIR_INPUT:
+ EC_WRITE_BIT(&control, 2,
+ sync_config->dir == EC_DIR_OUTPUT ? 1 : 0);
+ EC_WRITE_BIT(&control, 3, 0);
+ break;
+ default:
+ break;
+ }
+
+ switch (sync_config->watchdog_mode) {
+ case EC_WD_ENABLE:
+ case EC_WD_DISABLE:
+ EC_WRITE_BIT(&control, 6,
+ sync_config->watchdog_mode == EC_WD_ENABLE);
+ break;
+ default:
+ break;
+ }
}
if (sync->slave->master->debug_level)
diff --git a/master/sync.h b/master/sync.h
index 837edcb0c279e65d99854bdfcb438a3287a09d27..b41a229be90200d020066abb1705fd18e472750b 100644
--- a/master/sync.h
+++ b/master/sync.h
@@ -38,6 +38,7 @@
#include "globals.h"
#include "pdo_list.h"
+#include "sync_config.h"
/*****************************************************************************/
@@ -57,8 +58,8 @@ typedef struct {
void ec_sync_init(ec_sync_t *, ec_slave_t *);
void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
void ec_sync_clear(ec_sync_t *);
-void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t, ec_direction_t,
- uint8_t *);
+void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t,
+ const ec_sync_config_t *, uint8_t *);
int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
ec_direction_t ec_sync_default_direction(const ec_sync_t *);
diff --git a/master/sync_config.c b/master/sync_config.c
index c8d275495ce554857171597463b517b13eb48665..e3c441d21326d43791ca05c4f79e2f818ffab62f 100644
--- a/master/sync_config.c
+++ b/master/sync_config.c
@@ -45,6 +45,7 @@ void ec_sync_config_init(
)
{
sync_config->dir = EC_DIR_INVALID;
+ sync_config->watchdog_mode = EC_WD_DEFAULT;
ec_pdo_list_init(&sync_config->pdos);
}
diff --git a/master/sync_config.h b/master/sync_config.h
index b94195de0d1f9e5147f43f9c7695f9a262f48e07..c8fc3e88fe41072fb9339309441427e8667d619b 100644
--- a/master/sync_config.h
+++ b/master/sync_config.h
@@ -45,6 +45,7 @@
*/
typedef struct {
ec_direction_t dir; /**< Sync manager direction. */
+ ec_watchdog_mode_t watchdog_mode; /**< Watchdog mode. */
ec_pdo_list_t pdos; /**< Current PDO assignment. */
} ec_sync_config_t;