From d6b0e622fb40590b033420975f18f1a5a6705a4e Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 13 May 2008 16:07:06 +0000
Subject: [PATCH] Improved working counter output; fixed problem with slaves
that have a single sync manager used for outputs.
---
master/domain.c | 19 ++++++++++++++-----
master/slave.c | 27 +++++++++++++++++----------
master/sync.c | 23 ++++++++++++++++-------
3 files changed, 47 insertions(+), 22 deletions(-)
diff --git a/master/domain.c b/master/domain.c
index 361e6239..60a93503 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -196,10 +196,18 @@ void ec_domain_add_fmmu_config(
ec_fmmu_config_t *fmmu /**< FMMU configuration. */
)
{
+ unsigned int wc_increment;
fmmu->domain = domain;
domain->data_size += fmmu->data_size;
- domain->expected_working_counter += working_counter_increment[fmmu->dir];
+ wc_increment = working_counter_increment[fmmu->dir];
+ domain->expected_working_counter += wc_increment;
+
+ if (domain->master->debug_level)
+ EC_DBG("Domain %u: Added %u bytes (now %u) with dir %u -> WC %u"
+ " (now %u).\n", domain->index, fmmu->data_size,
+ domain->data_size, fmmu->dir, wc_increment,
+ domain->expected_working_counter);
}
/*****************************************************************************/
@@ -439,13 +447,14 @@ void ecrt_domain_process(ec_domain_t *domain)
jiffies - domain->notify_jiffies > HZ) {
domain->notify_jiffies = jiffies;
if (domain->working_counter_changes == 1) {
- EC_INFO("Domain %u working counter change: %u\n", domain->index,
- domain->working_counter);
+ EC_INFO("Domain %u: Working counter changed to %u/%u.\n",
+ domain->index, domain->working_counter,
+ domain->expected_working_counter);
}
else {
- EC_INFO("Domain %u: %u working counter changes. Currently %u\n",
+ EC_INFO("Domain %u: %u working counter changes. Currently %u/%u.\n",
domain->index, domain->working_counter_changes,
- domain->working_counter);
+ domain->working_counter, domain->expected_working_counter);
}
domain->working_counter_changes = 0;
}
diff --git a/master/slave.c b/master/slave.c
index 26a0826f..b542f595 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -1164,14 +1164,14 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
/*****************************************************************************/
-/**
- * Get the sync manager for either Rx- or Tx-Pdos.
+/** Get the sync manager for either Rx- or Tx-Pdos.
+ *
+ * \todo This seems not to be correct in every case...
* \return pointer to sync manager, or NULL.
*/
-
ec_sync_t *ec_slave_get_pdo_sync(
- ec_slave_t *slave, /**< EtherCAT slave */
- ec_direction_t dir /**< input or output */
+ ec_slave_t *slave, /**< EtherCAT slave. */
+ ec_direction_t dir /**< Input or output. */
)
{
unsigned int sync_index;
@@ -1181,11 +1181,18 @@ ec_sync_t *ec_slave_get_pdo_sync(
return NULL;
}
- sync_index = (unsigned int) dir;
- if (slave->sii.mailbox_protocols) sync_index += 2;
-
- if (sync_index >= slave->sii.sync_count)
- return NULL;
+ if (slave->sii.sync_count != 1) {
+ sync_index = (unsigned int) dir;
+ if (slave->sii.mailbox_protocols) sync_index += 2;
+
+ if (sync_index >= slave->sii.sync_count)
+ return NULL;
+ } else { // sync_count == 1
+ // A single sync manager may be used for inputs OR outputs!
+ if (ec_sync_direction(&slave->sii.syncs[0]) != dir)
+ return NULL;
+ sync_index = 0;
+ }
return &slave->sii.syncs[sync_index];
}
diff --git a/master/sync.c b/master/sync.c
index ad5d1d6c..de6cd37e 100644
--- a/master/sync.c
+++ b/master/sync.c
@@ -144,13 +144,22 @@ ec_direction_t ec_sync_direction(
{
int index = sync->index;
- if (sync->slave && sync->slave->sii.mailbox_protocols) {
- index -= 2;
- }
-
- if (index < 0 || index > 1) {
- EC_WARN("ec_sync_get_direction(): invalid sync manager index.\n");
- return EC_DIR_OUTPUT;
+ if (sync->slave->sii.sync_count != 1) {
+ if (sync->slave && sync->slave->sii.mailbox_protocols) {
+ index -= 2;
+ }
+
+ if (index < 0 || index > 1) {
+ EC_WARN("ec_sync_get_direction(): invalid sync manager index.\n");
+ return EC_DIR_OUTPUT;
+ }
+ } else { // sync_count == 1
+ if (!list_empty(&sync->pdos.list)) {
+ const ec_pdo_t *pdo =
+ list_entry(sync->pdos.list.next, ec_pdo_t, list);
+ return pdo->dir;
+ }
+
}
return (ec_direction_t) index;
--
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